diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index dbc01788935fb4f381f19836b9b010c2911e619b..36cecff242b55889dbd6657945a3b17d0acfb5e2 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -24,7 +24,10 @@
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
# include(lib/QMapControl/QMapControl.pri)
-include(lib/nmea/nmea.pri)
+include(src/libs/nmea/nmea.pri)
+
+# EIGEN matrix library (header-only)
+INCLUDEPATH += src/libs/eigen
# This is a HACK - linking to openpilot repo for now
# OPMapControl is a OpenPilot-independent map library
@@ -348,7 +351,8 @@ HEADERS += src/MG.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/QGCMapTool.h \
src/ui/map/QGCMapToolBar.h \
- src/libs/qextserialport/qextserialenumerator.h
+ src/libs/qextserialport/qextserialenumerator.h \
+ src/QGCGeo.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
diff --git a/src/QGCGeo.h b/src/QGCGeo.h
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6afd682e6d9690efa498aae20fe42c3cedad8
--- /dev/null
+++ b/src/QGCGeo.h
@@ -0,0 +1,14 @@
+#ifndef QGCGEO_H
+#define QGCGEO_H
+
+/**
+ * Converting from latitude / longitude to tangent on earth surface
+ * @link http://psas.pdx.edu/CoordinateSystem/Latitude_to_LocalTangent.pdf
+ * @link http://dspace.dsto.defence.gov.au/dspace/bitstream/1947/3538/1/DSTO-TN-0432.pdf
+ */
+void LatLonToENU(double lat, double lon, double alt, double originLat, double originLon, double originAlt, double* x, double* y, double* z)
+{
+
+}
+
+#endif // QGCGEO_H
diff --git a/src/libs/eigen/COPYING.GPL b/src/libs/eigen/COPYING.GPL
new file mode 100644
index 0000000000000000000000000000000000000000..94a9ed024d3859793618152ea559a168bbcbb5e2
--- /dev/null
+++ b/src/libs/eigen/COPYING.GPL
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
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+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/src/libs/eigen/COPYING.LGPL b/src/libs/eigen/COPYING.LGPL
new file mode 100644
index 0000000000000000000000000000000000000000..0e4fa8aaf2049f54b1240fdefb4c1c8b93455d4f
--- /dev/null
+++ b/src/libs/eigen/COPYING.LGPL
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/src/libs/eigen/Eigen/Array b/src/libs/eigen/Eigen/Array
new file mode 100644
index 0000000000000000000000000000000000000000..3d004fb69e8de9ea47c14d0aa455caf85a87afe3
--- /dev/null
+++ b/src/libs/eigen/Eigen/Array
@@ -0,0 +1,11 @@
+#ifndef EIGEN_ARRAY_MODULE_H
+#define EIGEN_ARRAY_MODULE_H
+
+// include Core first to handle Eigen2 support macros
+#include "Core"
+
+#ifndef EIGEN2_SUPPORT
+ #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
+#endif
+
+#endif // EIGEN_ARRAY_MODULE_H
diff --git a/src/libs/eigen/Eigen/CMakeLists.txt b/src/libs/eigen/Eigen/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a92dd6f6cafd2206f8be1a50f1294e2ae49feb5a
--- /dev/null
+++ b/src/libs/eigen/Eigen/CMakeLists.txt
@@ -0,0 +1,19 @@
+include(RegexUtils)
+test_escape_string_as_regex()
+
+file(GLOB Eigen_directory_files "*")
+
+escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+
+foreach(f ${Eigen_directory_files})
+ if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
+ list(APPEND Eigen_directory_files_to_install ${f})
+ endif()
+endforeach(f ${Eigen_directory_files})
+
+install(FILES
+ ${Eigen_directory_files_to_install}
+ DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
+ )
+
+add_subdirectory(src)
diff --git a/src/libs/eigen/Eigen/Cholesky b/src/libs/eigen/Eigen/Cholesky
new file mode 100644
index 0000000000000000000000000000000000000000..53f7bf911a48bdfc79561739ea3f8568d489344a
--- /dev/null
+++ b/src/libs/eigen/Eigen/Cholesky
@@ -0,0 +1,33 @@
+#ifndef EIGEN_CHOLESKY_MODULE_H
+#define EIGEN_CHOLESKY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Cholesky_Module Cholesky module
+ *
+ *
+ *
+ * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
+ * Those decompositions are accessible via the following MatrixBase methods:
+ * - MatrixBase::llt(),
+ * - MatrixBase::ldlt()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/misc/Solve.h"
+#include "src/Cholesky/LLT.h"
+#include "src/Cholesky/LDLT.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_CHOLESKY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/Core b/src/libs/eigen/Eigen/Core
new file mode 100644
index 0000000000000000000000000000000000000000..2ad4dee25dc113959c2b6e90c81306a70104e88f
--- /dev/null
+++ b/src/libs/eigen/Eigen/Core
@@ -0,0 +1,367 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud
+// Copyright (C) 2007-2011 Benoit Jacob
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see .
+
+#ifndef EIGEN_CORE_H
+#define EIGEN_CORE_H
+
+// first thing Eigen does: stop the compiler from committing suicide
+#include "src/Core/util/DisableStupidWarnings.h"
+
+// then include this file where all our macros are defined. It's really important to do it first because
+// it's where we do all the alignment settings (platform detection and honoring the user's will if he
+// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
+#include "src/Core/util/Macros.h"
+
+// if alignment is disabled, then disable vectorization. Note: EIGEN_ALIGN is the proper check, it takes into
+// account both the user's will (EIGEN_DONT_ALIGN) and our own platform checks
+#if !EIGEN_ALIGN
+ #ifndef EIGEN_DONT_VECTORIZE
+ #define EIGEN_DONT_VECTORIZE
+ #endif
+#endif
+
+#ifdef _MSC_VER
+ #include // for _aligned_malloc -- need it regardless of whether vectorization is enabled
+ #if (_MSC_VER >= 1500) // 2008 or later
+ // Remember that usage of defined() in a #define is undefined by the standard.
+ // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
+ #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+ #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
+ #endif
+ #endif
+#else
+ // Remember that usage of defined() in a #define is undefined by the standard
+ #if (defined __SSE2__) && ( (!defined __GNUC__) || EIGEN_GNUC_AT_LEAST(4,2) )
+ #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
+ #endif
+#endif
+
+#ifndef EIGEN_DONT_VECTORIZE
+
+ #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
+
+ // Defines symbols for compile-time detection of which instructions are
+ // used.
+ // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_SSE
+ #define EIGEN_VECTORIZE_SSE2
+
+ // Detect sse3/ssse3/sse4:
+ // gcc and icc defines __SSE3__, ...
+ // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
+ // want to force the use of those instructions with msvc.
+ #ifdef __SSE3__
+ #define EIGEN_VECTORIZE_SSE3
+ #endif
+ #ifdef __SSSE3__
+ #define EIGEN_VECTORIZE_SSSE3
+ #endif
+ #ifdef __SSE4_1__
+ #define EIGEN_VECTORIZE_SSE4_1
+ #endif
+ #ifdef __SSE4_2__
+ #define EIGEN_VECTORIZE_SSE4_2
+ #endif
+
+ // include files
+
+ // This extern "C" works around a MINGW-w64 compilation issue
+ // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
+ // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
+ // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
+ // with conflicting linkage. The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
+ // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
+ // notice that since these are C headers, the extern "C" is theoretically needed anyways.
+ extern "C" {
+ #include
+ #include
+ #ifdef EIGEN_VECTORIZE_SSE3
+ #include
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSSE3
+ #include
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSE4_1
+ #include
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSE4_2
+ #include
+ #endif
+ } // end extern "C"
+ #elif defined __ALTIVEC__
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_ALTIVEC
+ #include
+ // We need to #undef all these ugly tokens defined in
+ // => use __vector instead of vector
+ #undef bool
+ #undef vector
+ #undef pixel
+ #elif defined __ARM_NEON__
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_NEON
+ #include
+ #endif
+#endif
+
+#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
+ #define EIGEN_HAS_OPENMP
+#endif
+
+#ifdef EIGEN_HAS_OPENMP
+#include
+#endif
+
+// MSVC for windows mobile does not have the errno.h file
+#if !(defined(_MSC_VER) && defined(_WIN32_WCE))
+#define EIGEN_HAS_ERRNO
+#endif
+
+#ifdef EIGEN_HAS_ERRNO
+#include
+#endif
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include // for CHAR_BIT
+// for min/max:
+#include
+
+// for outputting debug info
+#ifdef EIGEN_DEBUG_ASSIGN
+#include
+#endif
+
+// required for __cpuid, needs to be included after cmath
+#if defined(_MSC_VER) && (defined(_M_IX86)||defined(_M_X64))
+ #include
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
+ #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+ #include
+#endif
+
+// this needs to be done after all possible windows C header includes and before any Eigen source includes
+// (system C++ includes are supposed to be able to deal with this already):
+// windows.h defines min and max macros which would make Eigen fail to compile.
+#if defined(min) || defined(max)
+#error The preprocessor symbols 'min' or 'max' are defined. If you are compiling on Windows, do #define NOMINMAX to prevent windows.h from defining these symbols.
+#endif
+
+// defined in bits/termios.h
+#undef B0
+
+/** \brief Namespace containing all symbols from the %Eigen library. */
+namespace Eigen {
+
+inline static const char *SimdInstructionSetsInUse(void) {
+#if defined(EIGEN_VECTORIZE_SSE4_2)
+ return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_1)
+ return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
+#elif defined(EIGEN_VECTORIZE_SSSE3)
+ return "SSE, SSE2, SSE3, SSSE3";
+#elif defined(EIGEN_VECTORIZE_SSE3)
+ return "SSE, SSE2, SSE3";
+#elif defined(EIGEN_VECTORIZE_SSE2)
+ return "SSE, SSE2";
+#elif defined(EIGEN_VECTORIZE_ALTIVEC)
+ return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_NEON)
+ return "ARM NEON";
+#else
+ return "None";
+#endif
+}
+
+#define STAGE10_FULL_EIGEN2_API 10
+#define STAGE20_RESOLVE_API_CONFLICTS 20
+#define STAGE30_FULL_EIGEN3_API 30
+#define STAGE40_FULL_EIGEN3_STRICTNESS 40
+#define STAGE99_NO_EIGEN2_SUPPORT 99
+
+#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS
+ #define EIGEN2_SUPPORT
+ #define EIGEN2_SUPPORT_STAGE STAGE40_FULL_EIGEN3_STRICTNESS
+#elif defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+ #define EIGEN2_SUPPORT
+ #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#elif defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS
+ #define EIGEN2_SUPPORT
+ #define EIGEN2_SUPPORT_STAGE STAGE20_RESOLVE_API_CONFLICTS
+#elif defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API
+ #define EIGEN2_SUPPORT
+ #define EIGEN2_SUPPORT_STAGE STAGE10_FULL_EIGEN2_API
+#elif defined EIGEN2_SUPPORT
+ // default to stage 3, that's what it's always meant
+ #define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+ #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#else
+ #define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#undef minor
+#endif
+
+// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
+// ensure QNX/QCC support
+using std::size_t;
+// gcc 4.6.0 wants std:: for ptrdiff_t
+using std::ptrdiff_t;
+
+/** \defgroup Core_Module Core module
+ * This is the main module of Eigen providing dense matrix and vector support
+ * (both fixed and dynamic size) with all the features corresponding to a BLAS library
+ * and much more...
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/Core/util/Constants.h"
+#include "src/Core/util/ForwardDeclarations.h"
+#include "src/Core/util/Meta.h"
+#include "src/Core/util/XprHelper.h"
+#include "src/Core/util/StaticAssert.h"
+#include "src/Core/util/Memory.h"
+
+#include "src/Core/NumTraits.h"
+#include "src/Core/MathFunctions.h"
+#include "src/Core/GenericPacketMath.h"
+
+#if defined EIGEN_VECTORIZE_SSE
+ #include "src/Core/arch/SSE/PacketMath.h"
+ #include "src/Core/arch/SSE/MathFunctions.h"
+ #include "src/Core/arch/SSE/Complex.h"
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+ #include "src/Core/arch/AltiVec/PacketMath.h"
+ #include "src/Core/arch/AltiVec/Complex.h"
+#elif defined EIGEN_VECTORIZE_NEON
+ #include "src/Core/arch/NEON/PacketMath.h"
+ #include "src/Core/arch/NEON/Complex.h"
+#endif
+
+#include "src/Core/arch/Default/Settings.h"
+
+#include "src/Core/Functors.h"
+#include "src/Core/DenseCoeffsBase.h"
+#include "src/Core/DenseBase.h"
+#include "src/Core/MatrixBase.h"
+#include "src/Core/EigenBase.h"
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
+ // at least confirmed with Doxygen 1.5.5 and 1.5.6
+ #include "src/Core/Assign.h"
+#endif
+
+#include "src/Core/util/BlasUtil.h"
+#include "src/Core/DenseStorage.h"
+#include "src/Core/NestByValue.h"
+#include "src/Core/ForceAlignedAccess.h"
+#include "src/Core/ReturnByValue.h"
+#include "src/Core/NoAlias.h"
+#include "src/Core/PlainObjectBase.h"
+#include "src/Core/Matrix.h"
+#include "src/Core/Array.h"
+#include "src/Core/CwiseBinaryOp.h"
+#include "src/Core/CwiseUnaryOp.h"
+#include "src/Core/CwiseNullaryOp.h"
+#include "src/Core/CwiseUnaryView.h"
+#include "src/Core/SelfCwiseBinaryOp.h"
+#include "src/Core/Dot.h"
+#include "src/Core/StableNorm.h"
+#include "src/Core/MapBase.h"
+#include "src/Core/Stride.h"
+#include "src/Core/Map.h"
+#include "src/Core/Block.h"
+#include "src/Core/VectorBlock.h"
+#include "src/Core/Transpose.h"
+#include "src/Core/DiagonalMatrix.h"
+#include "src/Core/Diagonal.h"
+#include "src/Core/DiagonalProduct.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
+#include "src/Core/Redux.h"
+#include "src/Core/Visitor.h"
+#include "src/Core/Fuzzy.h"
+#include "src/Core/IO.h"
+#include "src/Core/Swap.h"
+#include "src/Core/CommaInitializer.h"
+#include "src/Core/Flagged.h"
+#include "src/Core/ProductBase.h"
+#include "src/Core/Product.h"
+#include "src/Core/TriangularMatrix.h"
+#include "src/Core/SelfAdjointView.h"
+#include "src/Core/SolveTriangular.h"
+#include "src/Core/products/Parallelizer.h"
+#include "src/Core/products/CoeffBasedProduct.h"
+#include "src/Core/products/GeneralBlockPanelKernel.h"
+#include "src/Core/products/GeneralMatrixVector.h"
+#include "src/Core/products/GeneralMatrixMatrix.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
+#include "src/Core/products/SelfadjointMatrixVector.h"
+#include "src/Core/products/SelfadjointMatrixMatrix.h"
+#include "src/Core/products/SelfadjointProduct.h"
+#include "src/Core/products/SelfadjointRank2Update.h"
+#include "src/Core/products/TriangularMatrixVector.h"
+#include "src/Core/products/TriangularMatrixMatrix.h"
+#include "src/Core/products/TriangularSolverMatrix.h"
+#include "src/Core/products/TriangularSolverVector.h"
+#include "src/Core/BandMatrix.h"
+
+#include "src/Core/BooleanRedux.h"
+#include "src/Core/Select.h"
+#include "src/Core/VectorwiseOp.h"
+#include "src/Core/Random.h"
+#include "src/Core/Replicate.h"
+#include "src/Core/Reverse.h"
+#include "src/Core/ArrayBase.h"
+#include "src/Core/ArrayWrapper.h"
+
+} // namespace Eigen
+
+#include "src/Core/GlobalFunctions.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigen2Support"
+#endif
+
+#endif // EIGEN_CORE_H
diff --git a/src/libs/eigen/Eigen/Dense b/src/libs/eigen/Eigen/Dense
new file mode 100644
index 0000000000000000000000000000000000000000..5768910bd88c43f0761f2f345c6f0e3b46a4d8ec
--- /dev/null
+++ b/src/libs/eigen/Eigen/Dense
@@ -0,0 +1,7 @@
+#include "Core"
+#include "LU"
+#include "Cholesky"
+#include "QR"
+#include "SVD"
+#include "Geometry"
+#include "Eigenvalues"
diff --git a/src/libs/eigen/Eigen/Eigen b/src/libs/eigen/Eigen/Eigen
new file mode 100644
index 0000000000000000000000000000000000000000..19b40ea4e7e29d26c3f58ed73bce5def3c7347a3
--- /dev/null
+++ b/src/libs/eigen/Eigen/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+//#include "Sparse"
diff --git a/src/libs/eigen/Eigen/Eigen2Support b/src/libs/eigen/Eigen/Eigen2Support
new file mode 100644
index 0000000000000000000000000000000000000000..d96592a8de92c0be71102d963e828100e51fe39c
--- /dev/null
+++ b/src/libs/eigen/Eigen/Eigen2Support
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see .
+
+#ifndef EIGEN2SUPPORT_H
+#define EIGEN2SUPPORT_H
+
+#if (!defined(EIGEN2_SUPPORT)) || (!defined(EIGEN_CORE_H))
+#error Eigen2 support must be enabled by defining EIGEN2_SUPPORT before including any Eigen header
+#endif
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Eigen2Support_Module Eigen2 support module
+ * This module provides a couple of deprecated functions improving the compatibility with Eigen2.
+ *
+ * To use it, define EIGEN2_SUPPORT before including any Eigen header
+ * \code
+ * #define EIGEN2_SUPPORT
+ * \endcode
+ *
+ */
+
+#include "src/Eigen2Support/Macros.h"
+#include "src/Eigen2Support/Memory.h"
+#include "src/Eigen2Support/Meta.h"
+#include "src/Eigen2Support/Lazy.h"
+#include "src/Eigen2Support/Cwise.h"
+#include "src/Eigen2Support/CwiseOperators.h"
+#include "src/Eigen2Support/TriangularSolver.h"
+#include "src/Eigen2Support/Block.h"
+#include "src/Eigen2Support/VectorBlock.h"
+#include "src/Eigen2Support/Minor.h"
+#include "src/Eigen2Support/MathFunctions.h"
+
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+// Eigen2 used to include iostream
+#include
+
+#define USING_PART_OF_NAMESPACE_EIGEN \
+EIGEN_USING_MATRIX_TYPEDEFS \
+using Eigen::Matrix; \
+using Eigen::MatrixBase; \
+using Eigen::ei_random; \
+using Eigen::ei_real; \
+using Eigen::ei_imag; \
+using Eigen::ei_conj; \
+using Eigen::ei_abs; \
+using Eigen::ei_abs2; \
+using Eigen::ei_sqrt; \
+using Eigen::ei_exp; \
+using Eigen::ei_log; \
+using Eigen::ei_sin; \
+using Eigen::ei_cos;
+
+#endif // EIGEN2SUPPORT_H
diff --git a/src/libs/eigen/Eigen/Eigenvalues b/src/libs/eigen/Eigen/Eigenvalues
new file mode 100644
index 0000000000000000000000000000000000000000..250c0f46652d16c6d265bf015ec1c3150ea36d06
--- /dev/null
+++ b/src/libs/eigen/Eigen/Eigenvalues
@@ -0,0 +1,44 @@
+#ifndef EIGEN_EIGENVALUES_MODULE_H
+#define EIGEN_EIGENVALUES_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+#include "LU"
+
+namespace Eigen {
+
+/** \defgroup Eigenvalues_Module Eigenvalues module
+ *
+ *
+ *
+ * This module mainly provides various eigenvalue solvers.
+ * This module also provides some MatrixBase methods, including:
+ * - MatrixBase::eigenvalues(),
+ * - MatrixBase::operatorNorm()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/Eigenvalues/Tridiagonalization.h"
+#include "src/Eigenvalues/RealSchur.h"
+#include "src/Eigenvalues/EigenSolver.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/HessenbergDecomposition.h"
+#include "src/Eigenvalues/ComplexSchur.h"
+#include "src/Eigenvalues/ComplexEigenSolver.h"
+#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_EIGENVALUES_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/Geometry b/src/libs/eigen/Eigen/Geometry
new file mode 100644
index 0000000000000000000000000000000000000000..78277c0c560892a36da75c7038f0ed851346a284
--- /dev/null
+++ b/src/libs/eigen/Eigen/Geometry
@@ -0,0 +1,67 @@
+#ifndef EIGEN_GEOMETRY_MODULE_H
+#define EIGEN_GEOMETRY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "SVD"
+#include "LU"
+#include
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace Eigen {
+
+/** \defgroup Geometry_Module Geometry module
+ *
+ *
+ *
+ * This module provides support for:
+ * - fixed-size homogeneous transformations
+ * - translation, scaling, 2D and 3D rotations
+ * - quaternions
+ * - \ref MatrixBase::cross() "cross product"
+ * - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
+ * - some linear components: parametrized-lines and hyperplanes
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/Geometry/OrthoMethods.h"
+#include "src/Geometry/EulerAngles.h"
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+ #include "src/Geometry/Homogeneous.h"
+ #include "src/Geometry/RotationBase.h"
+ #include "src/Geometry/Rotation2D.h"
+ #include "src/Geometry/Quaternion.h"
+ #include "src/Geometry/AngleAxis.h"
+ #include "src/Geometry/Transform.h"
+ #include "src/Geometry/Translation.h"
+ #include "src/Geometry/Scaling.h"
+ #include "src/Geometry/Hyperplane.h"
+ #include "src/Geometry/ParametrizedLine.h"
+ #include "src/Geometry/AlignedBox.h"
+ #include "src/Geometry/Umeyama.h"
+
+ #if defined EIGEN_VECTORIZE_SSE
+ #include "src/Geometry/arch/Geometry_SSE.h"
+ #endif
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/Geometry/All.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_GEOMETRY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/src/libs/eigen/Eigen/Householder b/src/libs/eigen/Eigen/Householder
new file mode 100644
index 0000000000000000000000000000000000000000..6b86cf65c551936b8dabecec7ece0c2d272a875c
--- /dev/null
+++ b/src/libs/eigen/Eigen/Householder
@@ -0,0 +1,27 @@
+#ifndef EIGEN_HOUSEHOLDER_MODULE_H
+#define EIGEN_HOUSEHOLDER_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Householder_Module Householder module
+ * This module provides Householder transformations.
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/Householder/Householder.h"
+#include "src/Householder/HouseholderSequence.h"
+#include "src/Householder/BlockHouseholder.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_HOUSEHOLDER_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/Jacobi b/src/libs/eigen/Eigen/Jacobi
new file mode 100644
index 0000000000000000000000000000000000000000..afa6768137908e4b1dd3270e07584451975e3f69
--- /dev/null
+++ b/src/libs/eigen/Eigen/Jacobi
@@ -0,0 +1,30 @@
+#ifndef EIGEN_JACOBI_MODULE_H
+#define EIGEN_JACOBI_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Jacobi_Module Jacobi module
+ * This module provides Jacobi and Givens rotations.
+ *
+ * \code
+ * #include
+ * \endcode
+ *
+ * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
+ * - MatrixBase::applyOnTheLeft()
+ * - MatrixBase::applyOnTheRight().
+ */
+
+#include "src/Jacobi/Jacobi.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_JACOBI_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/src/libs/eigen/Eigen/LU b/src/libs/eigen/Eigen/LU
new file mode 100644
index 0000000000000000000000000000000000000000..226f88ca38add36f3947bb86471e5ebd09836550
--- /dev/null
+++ b/src/libs/eigen/Eigen/LU
@@ -0,0 +1,42 @@
+#ifndef EIGEN_LU_MODULE_H
+#define EIGEN_LU_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup LU_Module LU module
+ * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
+ * This module defines the following MatrixBase methods:
+ * - MatrixBase::inverse()
+ * - MatrixBase::determinant()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/misc/Solve.h"
+#include "src/misc/Kernel.h"
+#include "src/misc/Image.h"
+#include "src/LU/FullPivLU.h"
+#include "src/LU/PartialPivLU.h"
+#include "src/LU/Determinant.h"
+#include "src/LU/Inverse.h"
+
+#if defined EIGEN_VECTORIZE_SSE
+ #include "src/LU/arch/Inverse_SSE.h"
+#endif
+
+#ifdef EIGEN2_SUPPORT
+ #include "src/Eigen2Support/LU.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_LU_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/LeastSquares b/src/libs/eigen/Eigen/LeastSquares
new file mode 100644
index 0000000000000000000000000000000000000000..93a6302dcd9f93a03eca500042ee7f63f6149f47
--- /dev/null
+++ b/src/libs/eigen/Eigen/LeastSquares
@@ -0,0 +1,36 @@
+#ifndef EIGEN_REGRESSION_MODULE_H
+#define EIGEN_REGRESSION_MODULE_H
+
+#ifndef EIGEN2_SUPPORT
+#error LeastSquares is only available in Eigen2 support mode (define EIGEN2_SUPPORT)
+#endif
+
+// exclude from normal eigen3-only documentation
+#ifdef EIGEN2_SUPPORT
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Eigenvalues"
+#include "Geometry"
+
+namespace Eigen {
+
+/** \defgroup LeastSquares_Module LeastSquares module
+ * This module provides linear regression and related features.
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/Eigen2Support/LeastSquares.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN2_SUPPORT
+
+#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/src/libs/eigen/Eigen/QR b/src/libs/eigen/Eigen/QR
new file mode 100644
index 0000000000000000000000000000000000000000..97c1788ee308ceac3bfbdd5273300d8e498cd3ba
--- /dev/null
+++ b/src/libs/eigen/Eigen/QR
@@ -0,0 +1,45 @@
+#ifndef EIGEN_QR_MODULE_H
+#define EIGEN_QR_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+
+namespace Eigen {
+
+/** \defgroup QR_Module QR module
+ *
+ *
+ *
+ * This module provides various QR decompositions
+ * This module also provides some MatrixBase methods, including:
+ * - MatrixBase::qr(),
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/misc/Solve.h"
+#include "src/QR/HouseholderQR.h"
+#include "src/QR/FullPivHouseholderQR.h"
+#include "src/QR/ColPivHouseholderQR.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/QR.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigenvalues"
+#endif
+
+#endif // EIGEN_QR_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/QtAlignedMalloc b/src/libs/eigen/Eigen/QtAlignedMalloc
new file mode 100644
index 0000000000000000000000000000000000000000..46f7d83b70f5a8509c216e4bc200f6afa9632f07
--- /dev/null
+++ b/src/libs/eigen/Eigen/QtAlignedMalloc
@@ -0,0 +1,34 @@
+
+#ifndef EIGEN_QTMALLOC_MODULE_H
+#define EIGEN_QTMALLOC_MODULE_H
+
+#include "Core"
+
+#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+void *qMalloc(size_t size)
+{
+ return Eigen::internal::aligned_malloc(size);
+}
+
+void qFree(void *ptr)
+{
+ Eigen::internal::aligned_free(ptr);
+}
+
+void *qRealloc(void *ptr, size_t size)
+{
+ void* newPtr = Eigen::internal::aligned_malloc(size);
+ memcpy(newPtr, ptr, size);
+ Eigen::internal::aligned_free(ptr);
+ return newPtr;
+}
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif
+
+#endif // EIGEN_QTMALLOC_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/SVD b/src/libs/eigen/Eigen/SVD
new file mode 100644
index 0000000000000000000000000000000000000000..d24471fd724bbd2748cdf62c73fc776984ddb58c
--- /dev/null
+++ b/src/libs/eigen/Eigen/SVD
@@ -0,0 +1,38 @@
+#ifndef EIGEN_SVD_MODULE_H
+#define EIGEN_SVD_MODULE_H
+
+#include "QR"
+#include "Householder"
+#include "Jacobi"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup SVD_Module SVD module
+ *
+ *
+ *
+ * This module provides SVD decomposition for (currently) real matrices.
+ * This decomposition is accessible via the following MatrixBase method:
+ * - MatrixBase::svd()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/misc/Solve.h"
+#include "src/SVD/JacobiSVD.h"
+#include "src/SVD/UpperBidiagonalization.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/SVD.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_SVD_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/src/libs/eigen/Eigen/Sparse b/src/libs/eigen/Eigen/Sparse
new file mode 100644
index 0000000000000000000000000000000000000000..7425b3a412a871df86fc8cbd8d7f64720d9a4a43
--- /dev/null
+++ b/src/libs/eigen/Eigen/Sparse
@@ -0,0 +1,69 @@
+#ifndef EIGEN_SPARSE_MODULE_H
+#define EIGEN_SPARSE_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include
+#include