├── .clang-format ├── .github ├── ISSUE_TEMPLATE │ ├── bug-report.md │ ├── feature-request.md │ └── questions-help-support.md ├── copilot-instructions.md ├── scripts │ ├── python.sh │ ├── python_wheels │ │ ├── build_wheels.sh │ │ ├── cibw_before_all.sh │ │ └── cleanup_gtsam_develop.sh │ └── unix.sh └── workflows │ ├── build-cibw.yml │ ├── build-linux.yml │ ├── build-macos.yml │ ├── build-python.yml │ ├── build-special.yml │ ├── build-windows.yml │ ├── cache-cleanup.yml │ ├── deploy.yml │ ├── prod-cibw.yml │ ├── trigger-packaging.yml │ ├── trigger-python.yml │ └── vcpkg.yml ├── .gitignore ├── .project ├── .settings ├── .gitignore └── org.eclipse.cdt.core.prefs ├── CMakeLists.txt ├── CppUnitLite ├── CMakeLists.txt ├── Failure.h ├── Test.cpp ├── Test.h ├── TestHarness.h ├── TestRegistry.cpp ├── TestRegistry.h ├── TestResult.cpp └── TestResult.h ├── DEVELOP.md ├── INSTALL.md ├── LICENSE ├── LICENSE.BSD ├── README.md ├── THANKS.md ├── USAGE.md ├── Using-GTSAM-EXPORT.md ├── cmake ├── CMakeLists.txt ├── Config.cmake.in ├── FindGooglePerfTools.cmake ├── FindMKL.cmake ├── FindNumPy.cmake ├── GTSAMCMakeToolsConfig.cmake ├── GtsamAddPch.cmake ├── GtsamBuildTypes.cmake ├── GtsamMakeConfigFile.cmake ├── GtsamPrinting.cmake ├── GtsamTesting.cmake ├── HandleAllocators.cmake ├── HandleBoost.cmake ├── HandleCCache.cmake ├── HandleCPack.cmake ├── HandleCephes.cmake ├── HandleEigen.cmake ├── HandleFinalChecks.cmake ├── HandleGeneralOptions.cmake ├── HandleGeographicLib.cmake ├── HandleGlobalBuildFlags.cmake ├── HandleMKL.cmake ├── HandleMetis.cmake ├── HandleOpenMP.cmake ├── HandlePerfTools.cmake ├── HandlePrintConfiguration.cmake ├── HandlePython.cmake ├── HandleTBB.cmake ├── HandleUninstall.cmake ├── README.html ├── README.md ├── cmake_uninstall.cmake.in ├── dllexport.h.in ├── example_cmake_find_gtsam │ ├── CMakeLists.txt │ └── main.cpp └── obsolete │ ├── FindCppUnitLite.cmake │ ├── FindWrap.cmake │ └── GtsamTestingObsolete.cmake ├── containers ├── Containerfile ├── README.md ├── compose.yaml ├── gtsam-vnc │ ├── Containerfile │ ├── bootstrap.sh │ ├── compose.yaml │ └── hub_push.sh └── hub_push.sh ├── doc ├── .gitignore ├── CMakeLists.txt ├── Code │ ├── LocalizationExample2.cpp │ ├── LocalizationFactor.cpp │ ├── LocalizationOutput5.txt │ ├── OdometryExample.cpp │ ├── OdometryMarginals.cpp │ ├── OdometryOptimize.cpp │ ├── OdometryOutput1.txt │ ├── OdometryOutput2.txt │ ├── OdometryOutput3.txt │ ├── PlanarSLAMExample.m │ ├── PlanarSLAMExample.txt │ ├── Pose2SLAMExample-graph.m │ ├── Pose2SLAMExample.cpp │ ├── Pose2SLAMExample.m │ ├── Pose3SLAMExample-graph.m │ ├── SFMExample.m │ ├── VisualISAMExample.cpp │ ├── calls.txt │ ├── print.txt │ └── whos.txt ├── CodingGuidelines.docx ├── CodingGuidelines.lyx ├── Doxyfile.in ├── DoxygenLayout.xml ├── GTSAM-Concepts.md ├── Hybrid.lyx ├── Hybrid.pdf ├── ImuFactor.lyx ├── ImuFactor.pdf ├── LieGroups.lyx ├── LieGroups.pdf ├── Mathematica │ ├── CalibratedCamera.nb │ ├── CalibratedStereoCamera.nb │ ├── Quaternion-Logmap.nb │ ├── Rot3.nb │ ├── StereoCamera.nb │ └── dexpInvL_SE2.nb ├── PreintegratedIMUJacobians.pdf ├── cholesky.lyx ├── common_macros.tex ├── examples.md ├── expressions.md ├── generating │ └── gpt_generate.py ├── gtsam-coordinate-frames.lyx ├── gtsam-coordinate-frames.pdf ├── gtsam.bib ├── gtsam.lyx ├── gtsam.pdf ├── images │ ├── Beijing.pdf │ ├── FactorGraph.pdf │ ├── FactorGraph2.pdf │ ├── FactorGraph3.pdf │ ├── FactorGraph4.pdf │ ├── Localization.pdf │ ├── Odometry.pdf │ ├── Victoria.pdf │ ├── circular.pdf │ ├── circular.png │ ├── cube.pdf │ ├── example1.pdf │ ├── example2.pdf │ ├── gtsam-structure.graffle │ ├── gtsam-structure.pdf │ ├── hmm-FG.pdf │ ├── hmm.pdf │ ├── littleRobot.pdf │ ├── n-steps.pdf │ ├── n-steps.png │ ├── sphere2500-result.pdf │ ├── state_action_cond_prob.png │ └── w100-result.pdf ├── macros.lyx ├── math.lyx ├── math.pdf ├── refs.bib ├── robust.pdf ├── stats.html ├── trustregion.bib ├── trustregion.lyx ├── trustregion.pdf └── user_guide.md ├── examples ├── ABC.h ├── ABC_EQF.h ├── ABC_EQF_Demo.cpp ├── CMakeLists.txt ├── CameraResectioning.cpp ├── City10000.h ├── CombinedImuFactorsExample.cpp ├── CreateSFMExampleData.cpp ├── Data │ ├── .gitignore │ ├── 18pointExample1.txt │ ├── 5pointExample1.txt │ ├── 5pointExample2.txt │ ├── Balbianello.out │ ├── Balbianello │ │ ├── BalbianelloMedium-1.jpg │ │ ├── BalbianelloMedium-1.key.gz │ │ ├── BalbianelloMedium-2.jpg │ │ ├── BalbianelloMedium-2.key.gz │ │ ├── BalbianelloMedium-3.jpg │ │ ├── BalbianelloMedium-3.key.gz │ │ ├── BalbianelloMedium-4.jpg │ │ ├── BalbianelloMedium-4.key.gz │ │ ├── BalbianelloMedium-5.jpg │ │ └── BalbianelloMedium-5.key.gz │ ├── EqFdata.csv │ ├── HS21.QPS │ ├── HS268.QPS │ ├── HS35.QPS │ ├── HS35MOD.QPS │ ├── HS51.QPS │ ├── HS52.QPS │ ├── ISAM2_GT_city10000.txt │ ├── ISAM2_SmartFactorStereo_IMU.txt │ ├── KittiEquivBiasedImu.txt │ ├── KittiEquivBiasedImu_metadata.txt │ ├── KittiGps_converted.txt │ ├── Klaus3.g2o │ ├── Plaza1_.mat │ ├── Plaza1_DR.txt │ ├── Plaza1_TD.txt │ ├── Plaza2_.mat │ ├── Plaza2_DR.txt │ ├── Plaza2_TD.txt │ ├── QPExample.QPS │ ├── QPTEST.QPS │ ├── T1_city10000_04.txt │ ├── VO_calibration.txt │ ├── VO_calibration00.txt │ ├── VO_calibration00s.txt │ ├── VO_camera_poses00.txt │ ├── VO_camera_poses00s.txt │ ├── VO_camera_poses_large.txt │ ├── VO_stereo_factors00.txt │ ├── VO_stereo_factors00s.txt │ ├── VO_stereo_factors_large.txt │ ├── dubrovnik-1-1-pre.txt │ ├── dubrovnik-3-7-18-pre.txt │ ├── dubrovnik-3-7-pre.txt │ ├── example.graph │ ├── example_with_vertices.g2o │ ├── gazebo_ASV.csv │ ├── imuAndGPSdata.csv │ ├── issue1452.txt │ ├── noisyToyGraph.txt │ ├── optimizedNoisyToyGraph.txt │ ├── orientationsNoisyToyGraph.txt │ ├── pose2example.txt │ ├── pose3Localizationexample.txt │ ├── pose3example-grid.txt │ ├── pose3example-offdiagonal-rewritten.txt │ ├── pose3example-offdiagonal.txt │ ├── pose3example.txt │ ├── quadraped_imu_data.csv │ ├── randomGrid3D.xml │ ├── simpleGraph10gradIter.txt │ ├── sphere2500.txt │ ├── sphere2500_groundtruth.txt │ ├── sphere_smallnoise.graph │ ├── toy3D.xml │ ├── toyExample.g2o │ ├── victoria_park.txt │ ├── w100.graph │ ├── w10000.graph │ └── w20000.txt ├── DiscreteBayesNetExample.cpp ├── DiscreteBayesNet_FG.cpp ├── EssentialViewGraphExample.cpp ├── FisheyeExample.cpp ├── FixedLagSmootherExample.cpp ├── GEKF_Rot3Example.cpp ├── GNCExample.cpp ├── HMMExample.cpp ├── Hybrid_City10000.cpp ├── IEKF_NavstateExample.cpp ├── IEKF_SE2Example.cpp ├── IMUKittiExampleGPS.cpp ├── ISAM2Example_SmartFactor.cpp ├── ISAM2_City10000.cpp ├── ImuFactorsExample.cpp ├── ImuFactorsExample2.cpp ├── IncrementalFixedLagSmootherExample.cpp ├── InverseKinematicsExampleExpressions.cpp ├── LocalizationExample.cpp ├── METISOrderingExample.cpp ├── NavStateImuExample.cpp ├── OdometryExample.cpp ├── PlanarSLAMExample.cpp ├── Pose2SLAMExample.cpp ├── Pose2SLAMExampleExpressions.cpp ├── Pose2SLAMExample_g2o.cpp ├── Pose2SLAMExample_graph.cpp ├── Pose2SLAMExample_graphviz.cpp ├── Pose2SLAMExample_lago.cpp ├── Pose2SLAMStressTest.cpp ├── Pose2SLAMwSPCG.cpp ├── Pose3Localization.cpp ├── Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp ├── Pose3SLAMExample_changeKeys.cpp ├── Pose3SLAMExample_g2o.cpp ├── Pose3SLAMExample_initializePose3Chordal.cpp ├── Pose3SLAMExample_initializePose3Gradient.cpp ├── README.md ├── RangeISAMExample_plaza2.cpp ├── SFMExample.cpp ├── SFMExampleExpressions.cpp ├── SFMExampleExpressions_bal.cpp ├── SFMExample_SmartFactor.cpp ├── SFMExample_SmartFactorPCG.cpp ├── SFMExample_bal.cpp ├── SFMExample_bal_COLAMD_METIS.cpp ├── SFMdata.h ├── SelfCalibrationExample.cpp ├── ShonanAveragingCLI.cpp ├── SimpleRotation.cpp ├── SolverComparer.cpp ├── StereoVOExample.cpp ├── StereoVOExample_large.cpp ├── TimeTBB.cpp ├── TriangulationLOSTExample.cpp ├── UGM_chain.cpp ├── UGM_small.cpp ├── ViewGraphExample.cpp ├── VisualISAM2Example.cpp ├── VisualISAMExample.cpp ├── easyPoint2KalmanFilter.cpp ├── elaboratePoint2KalmanFilter.cpp └── plot_city10000.m ├── gtsam ├── 3rdparty │ ├── CCOLAMD │ │ ├── Demo │ │ │ ├── Makefile │ │ │ ├── ccolamd_example.c │ │ │ ├── ccolamd_example.out │ │ │ ├── ccolamd_l_example.c │ │ │ └── ccolamd_l_example.out │ │ ├── Doc │ │ │ ├── ChangeLog │ │ │ ├── License.txt │ │ │ └── lesser.txt │ │ ├── Include │ │ │ └── ccolamd.h │ │ ├── Lib │ │ │ └── Makefile │ │ ├── MATLAB │ │ │ ├── Contents.m │ │ │ ├── ccolamd.m │ │ │ ├── ccolamd_demo.m │ │ │ ├── ccolamd_install.m │ │ │ ├── ccolamd_make.m │ │ │ ├── ccolamd_test.m │ │ │ ├── ccolamdmex.c │ │ │ ├── ccolamdtestmex.c │ │ │ ├── ccolamdtestmex.m │ │ │ ├── csymamd.m │ │ │ ├── csymamdmex.c │ │ │ ├── csymamdtestmex.c │ │ │ ├── csymamdtestmex.m │ │ │ └── luflops.m │ │ ├── Makefile │ │ ├── README.txt │ │ └── Source │ │ │ └── ccolamd.c │ ├── CMakeLists.txt │ ├── Eigen │ │ ├── .gitignore │ │ ├── .gitlab-ci.yml │ │ ├── .gitlab │ │ │ ├── issue_templates │ │ │ │ ├── Bug Report.md │ │ │ │ └── Feature Request.md │ │ │ └── merge_request_templates │ │ │ │ └── Merge Request Template.md │ │ ├── .hgeol │ │ ├── CMakeLists.txt │ │ ├── COPYING.APACHE │ │ ├── COPYING.BSD │ │ ├── COPYING.GPL │ │ ├── COPYING.LGPL │ │ ├── COPYING.MINPACK │ │ ├── COPYING.MPL2 │ │ ├── COPYING.README │ │ ├── CTestConfig.cmake │ │ ├── CTestCustom.cmake.in │ │ ├── Eigen │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── KLUSupport │ │ │ ├── LU │ │ │ ├── MetisSupport │ │ │ ├── OrderingMethods │ │ │ ├── PaStiXSupport │ │ │ ├── PardisoSupport │ │ │ ├── QR │ │ │ ├── QtAlignedMalloc │ │ │ ├── SPQRSupport │ │ │ ├── SVD │ │ │ ├── Sparse │ │ │ ├── SparseCholesky │ │ │ ├── SparseCore │ │ │ ├── SparseLU │ │ │ ├── SparseQR │ │ │ ├── StdDeque │ │ │ ├── StdList │ │ │ ├── StdVector │ │ │ ├── SuperLUSupport │ │ │ ├── UmfPackSupport │ │ │ └── src │ │ │ │ ├── Cholesky │ │ │ │ ├── LDLT.h │ │ │ │ ├── LLT.h │ │ │ │ └── LLT_LAPACKE.h │ │ │ │ ├── CholmodSupport │ │ │ │ └── CholmodSupport.h │ │ │ │ ├── Core │ │ │ │ ├── ArithmeticSequence.h │ │ │ │ ├── Array.h │ │ │ │ ├── ArrayBase.h │ │ │ │ ├── ArrayWrapper.h │ │ │ │ ├── Assign.h │ │ │ │ ├── AssignEvaluator.h │ │ │ │ ├── Assign_MKL.h │ │ │ │ ├── BandMatrix.h │ │ │ │ ├── Block.h │ │ │ │ ├── BooleanRedux.h │ │ │ │ ├── CommaInitializer.h │ │ │ │ ├── ConditionEstimator.h │ │ │ │ ├── CoreEvaluators.h │ │ │ │ ├── CoreIterators.h │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ ├── CwiseTernaryOp.h │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ ├── DenseBase.h │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ ├── DenseStorage.h │ │ │ │ ├── Diagonal.h │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ ├── DiagonalProduct.h │ │ │ │ ├── Dot.h │ │ │ │ ├── EigenBase.h │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ ├── Fuzzy.h │ │ │ │ ├── GeneralProduct.h │ │ │ │ ├── GenericPacketMath.h │ │ │ │ ├── GlobalFunctions.h │ │ │ │ ├── IO.h │ │ │ │ ├── IndexedView.h │ │ │ │ ├── Inverse.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapBase.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── MathFunctionsImpl.h │ │ │ │ ├── Matrix.h │ │ │ │ ├── MatrixBase.h │ │ │ │ ├── NestByValue.h │ │ │ │ ├── NoAlias.h │ │ │ │ ├── NumTraits.h │ │ │ │ ├── PartialReduxEvaluator.h │ │ │ │ ├── PermutationMatrix.h │ │ │ │ ├── PlainObjectBase.h │ │ │ │ ├── Product.h │ │ │ │ ├── ProductEvaluators.h │ │ │ │ ├── Random.h │ │ │ │ ├── Redux.h │ │ │ │ ├── Ref.h │ │ │ │ ├── Replicate.h │ │ │ │ ├── Reshaped.h │ │ │ │ ├── ReturnByValue.h │ │ │ │ ├── Reverse.h │ │ │ │ ├── Select.h │ │ │ │ ├── SelfAdjointView.h │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ ├── Solve.h │ │ │ │ ├── SolveTriangular.h │ │ │ │ ├── SolverBase.h │ │ │ │ ├── StableNorm.h │ │ │ │ ├── StlIterators.h │ │ │ │ ├── Stride.h │ │ │ │ ├── Swap.h │ │ │ │ ├── Transpose.h │ │ │ │ ├── Transpositions.h │ │ │ │ ├── TriangularMatrix.h │ │ │ │ ├── VectorBlock.h │ │ │ │ ├── VectorwiseOp.h │ │ │ │ ├── Visitor.h │ │ │ │ ├── arch │ │ │ │ │ ├── AVX │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── AVX512 │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── MatrixProduct.h │ │ │ │ │ │ ├── MatrixProductCommon.h │ │ │ │ │ │ ├── MatrixProductMMA.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── CUDA │ │ │ │ │ │ └── Complex.h │ │ │ │ │ ├── Default │ │ │ │ │ │ ├── BFloat16.h │ │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ │ ├── GenericPacketMathFunctions.h │ │ │ │ │ │ ├── GenericPacketMathFunctionsFwd.h │ │ │ │ │ │ ├── Half.h │ │ │ │ │ │ ├── Settings.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── GPU │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── HIP │ │ │ │ │ │ └── hcc │ │ │ │ │ │ │ └── math_constants.h │ │ │ │ │ ├── MSA │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── NEON │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── SSE │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── SVE │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── SYCL │ │ │ │ │ │ ├── InteropHeaders.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ ├── SyclMemoryModel.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ └── ZVector │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── functors │ │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ │ ├── BinaryFunctors.h │ │ │ │ │ ├── NullaryFunctors.h │ │ │ │ │ ├── StlFunctors.h │ │ │ │ │ ├── TernaryFunctors.h │ │ │ │ │ └── UnaryFunctors.h │ │ │ │ ├── products │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ └── util │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ ├── ConfigureVectorization.h │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ ├── IndexedViewHelper.h │ │ │ │ │ ├── IntegralConstant.h │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ ├── ReshapedHelper.h │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ ├── SymbolicIndex.h │ │ │ │ │ └── XprHelper.h │ │ │ │ ├── Eigenvalues │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ ├── ComplexSchur.h │ │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ │ ├── EigenSolver.h │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ ├── RealQZ.h │ │ │ │ ├── RealSchur.h │ │ │ │ ├── RealSchur_LAPACKE.h │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ │ └── Tridiagonalization.h │ │ │ │ ├── Geometry │ │ │ │ ├── AlignedBox.h │ │ │ │ ├── AngleAxis.h │ │ │ │ ├── EulerAngles.h │ │ │ │ ├── Homogeneous.h │ │ │ │ ├── Hyperplane.h │ │ │ │ ├── OrthoMethods.h │ │ │ │ ├── ParametrizedLine.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Rotation2D.h │ │ │ │ ├── RotationBase.h │ │ │ │ ├── Scaling.h │ │ │ │ ├── Transform.h │ │ │ │ ├── Translation.h │ │ │ │ ├── Umeyama.h │ │ │ │ └── arch │ │ │ │ │ └── Geometry_SIMD.h │ │ │ │ ├── Householder │ │ │ │ ├── BlockHouseholder.h │ │ │ │ ├── Householder.h │ │ │ │ └── HouseholderSequence.h │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ ├── BiCGSTAB.h │ │ │ │ ├── ConjugateGradient.h │ │ │ │ ├── IncompleteCholesky.h │ │ │ │ ├── IncompleteLUT.h │ │ │ │ ├── IterativeSolverBase.h │ │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ │ └── SolveWithGuess.h │ │ │ │ ├── Jacobi │ │ │ │ └── Jacobi.h │ │ │ │ ├── KLUSupport │ │ │ │ └── KLUSupport.h │ │ │ │ ├── LU │ │ │ │ ├── Determinant.h │ │ │ │ ├── FullPivLU.h │ │ │ │ ├── InverseImpl.h │ │ │ │ ├── PartialPivLU.h │ │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ │ └── arch │ │ │ │ │ └── InverseSize4.h │ │ │ │ ├── MetisSupport │ │ │ │ └── MetisSupport.h │ │ │ │ ├── OrderingMethods │ │ │ │ ├── Amd.h │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ └── Ordering.h │ │ │ │ ├── PaStiXSupport │ │ │ │ └── PaStiXSupport.h │ │ │ │ ├── PardisoSupport │ │ │ │ └── PardisoSupport.h │ │ │ │ ├── QR │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ ├── HouseholderQR.h │ │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ │ ├── SPQRSupport │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ ├── SVD │ │ │ │ ├── BDCSVD.h │ │ │ │ ├── JacobiSVD.h │ │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ │ ├── SVDBase.h │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ ├── SparseCholesky │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ ├── SparseCore │ │ │ │ ├── AmbiVector.h │ │ │ │ ├── CompressedStorage.h │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ ├── SparseAssign.h │ │ │ │ ├── SparseBlock.h │ │ │ │ ├── SparseColEtree.h │ │ │ │ ├── SparseCompressedBase.h │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ ├── SparseDot.h │ │ │ │ ├── SparseFuzzy.h │ │ │ │ ├── SparseMap.h │ │ │ │ ├── SparseMatrix.h │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ ├── SparsePermutation.h │ │ │ │ ├── SparseProduct.h │ │ │ │ ├── SparseRedux.h │ │ │ │ ├── SparseRef.h │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ ├── SparseSolverBase.h │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ ├── SparseTranspose.h │ │ │ │ ├── SparseTriangularView.h │ │ │ │ ├── SparseUtil.h │ │ │ │ ├── SparseVector.h │ │ │ │ ├── SparseView.h │ │ │ │ └── TriangularSolver.h │ │ │ │ ├── SparseLU │ │ │ │ ├── SparseLU.h │ │ │ │ ├── SparseLUImpl.h │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ ├── SparseQR │ │ │ │ └── SparseQR.h │ │ │ │ ├── StlSupport │ │ │ │ ├── StdDeque.h │ │ │ │ ├── StdList.h │ │ │ │ ├── StdVector.h │ │ │ │ └── details.h │ │ │ │ ├── SuperLUSupport │ │ │ │ └── SuperLUSupport.h │ │ │ │ ├── UmfPackSupport │ │ │ │ └── UmfPackSupport.h │ │ │ │ ├── misc │ │ │ │ ├── Image.h │ │ │ │ ├── Kernel.h │ │ │ │ ├── RealSvd2x2.h │ │ │ │ ├── blas.h │ │ │ │ ├── lapack.h │ │ │ │ ├── lapacke.h │ │ │ │ └── lapacke_mangling.h │ │ │ │ └── plugins │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ ├── BlockMethods.h │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ ├── IndexedViewMethods.h │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ ├── MatrixCwiseUnaryOps.h │ │ │ │ └── ReshapedMethods.h │ │ ├── INSTALL │ │ ├── README.md │ │ ├── bench │ │ │ ├── BenchSparseUtil.h │ │ │ ├── BenchTimer.h │ │ │ ├── BenchUtil.h │ │ │ ├── README.txt │ │ │ ├── analyze-blocking-sizes.cpp │ │ │ ├── basicbench.cxxlist │ │ │ ├── basicbenchmark.cpp │ │ │ ├── basicbenchmark.h │ │ │ ├── benchBlasGemm.cpp │ │ │ ├── benchCholesky.cpp │ │ │ ├── benchEigenSolver.cpp │ │ │ ├── benchFFT.cpp │ │ │ ├── benchGeometry.cpp │ │ │ ├── benchVecAdd.cpp │ │ │ ├── bench_gemm.cpp │ │ │ ├── bench_move_semantics.cpp │ │ │ ├── bench_multi_compilers.sh │ │ │ ├── bench_norm.cpp │ │ │ ├── bench_reverse.cpp │ │ │ ├── bench_sum.cpp │ │ │ ├── bench_unrolling │ │ │ ├── benchmark-blocking-sizes.cpp │ │ │ ├── benchmark.cpp │ │ │ ├── benchmarkSlice.cpp │ │ │ ├── benchmarkX.cpp │ │ │ ├── benchmarkXcwise.cpp │ │ │ ├── benchmark_suite │ │ │ ├── btl │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── COPYING │ │ │ │ ├── README │ │ │ │ ├── actions │ │ │ │ │ ├── action_aat_product.hh │ │ │ │ │ ├── action_ata_product.hh │ │ │ │ │ ├── action_atv_product.hh │ │ │ │ │ ├── action_axpby.hh │ │ │ │ │ ├── action_axpy.hh │ │ │ │ │ ├── action_cholesky.hh │ │ │ │ │ ├── action_ger.hh │ │ │ │ │ ├── action_hessenberg.hh │ │ │ │ │ ├── action_lu_decomp.hh │ │ │ │ │ ├── action_lu_solve.hh │ │ │ │ │ ├── action_matrix_matrix_product.hh │ │ │ │ │ ├── action_matrix_matrix_product_bis.hh │ │ │ │ │ ├── action_matrix_vector_product.hh │ │ │ │ │ ├── action_partial_lu.hh │ │ │ │ │ ├── action_rot.hh │ │ │ │ │ ├── action_symv.hh │ │ │ │ │ ├── action_syr2.hh │ │ │ │ │ ├── action_trisolve.hh │ │ │ │ │ ├── action_trisolve_matrix.hh │ │ │ │ │ ├── action_trmm.hh │ │ │ │ │ └── basic_actions.hh │ │ │ │ ├── cmake │ │ │ │ │ ├── FindACML.cmake │ │ │ │ │ ├── FindATLAS.cmake │ │ │ │ │ ├── FindBLAZE.cmake │ │ │ │ │ ├── FindBlitz.cmake │ │ │ │ │ ├── FindCBLAS.cmake │ │ │ │ │ ├── FindGMM.cmake │ │ │ │ │ ├── FindMKL.cmake │ │ │ │ │ ├── FindMTL4.cmake │ │ │ │ │ ├── FindOPENBLAS.cmake │ │ │ │ │ ├── FindPackageHandleStandardArgs.cmake │ │ │ │ │ ├── FindTvmet.cmake │ │ │ │ │ └── MacroOptionalAddSubdirectory.cmake │ │ │ │ ├── data │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── action_settings.txt │ │ │ │ │ ├── gnuplot_common_settings.hh │ │ │ │ │ ├── go_mean │ │ │ │ │ ├── mean.cxx │ │ │ │ │ ├── mk_gnuplot_script.sh │ │ │ │ │ ├── mk_mean_script.sh │ │ │ │ │ ├── mk_new_gnuplot.sh │ │ │ │ │ ├── perlib_plot_settings.txt │ │ │ │ │ ├── regularize.cxx │ │ │ │ │ ├── smooth.cxx │ │ │ │ │ └── smooth_all.sh │ │ │ │ ├── generic_bench │ │ │ │ │ ├── bench.hh │ │ │ │ │ ├── bench_parameter.hh │ │ │ │ │ ├── btl.hh │ │ │ │ │ ├── init │ │ │ │ │ │ ├── init_function.hh │ │ │ │ │ │ ├── init_matrix.hh │ │ │ │ │ │ └── init_vector.hh │ │ │ │ │ ├── static │ │ │ │ │ │ ├── bench_static.hh │ │ │ │ │ │ ├── intel_bench_fixed_size.hh │ │ │ │ │ │ └── static_size_generator.hh │ │ │ │ │ ├── timers │ │ │ │ │ │ ├── STL_perf_analyzer.hh │ │ │ │ │ │ ├── STL_timer.hh │ │ │ │ │ │ ├── mixed_perf_analyzer.hh │ │ │ │ │ │ ├── portable_perf_analyzer.hh │ │ │ │ │ │ ├── portable_perf_analyzer_old.hh │ │ │ │ │ │ ├── portable_timer.hh │ │ │ │ │ │ ├── x86_perf_analyzer.hh │ │ │ │ │ │ └── x86_timer.hh │ │ │ │ │ └── utils │ │ │ │ │ │ ├── size_lin_log.hh │ │ │ │ │ │ ├── size_log.hh │ │ │ │ │ │ ├── utilities.h │ │ │ │ │ │ └── xy_file.hh │ │ │ │ └── libs │ │ │ │ │ ├── BLAS │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── blas.h │ │ │ │ │ ├── blas_interface.hh │ │ │ │ │ ├── blas_interface_impl.hh │ │ │ │ │ ├── c_interface_base.h │ │ │ │ │ └── main.cpp │ │ │ │ │ ├── STL │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── STL_interface.hh │ │ │ │ │ └── main.cpp │ │ │ │ │ ├── blaze │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── blaze_interface.hh │ │ │ │ │ └── main.cpp │ │ │ │ │ ├── blitz │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── blitz_LU_solve_interface.hh │ │ │ │ │ ├── blitz_interface.hh │ │ │ │ │ ├── btl_blitz.cpp │ │ │ │ │ ├── btl_tiny_blitz.cpp │ │ │ │ │ └── tiny_blitz_interface.hh │ │ │ │ │ ├── eigen2 │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── btl_tiny_eigen2.cpp │ │ │ │ │ ├── eigen2_interface.hh │ │ │ │ │ ├── main_adv.cpp │ │ │ │ │ ├── main_linear.cpp │ │ │ │ │ ├── main_matmat.cpp │ │ │ │ │ └── main_vecmat.cpp │ │ │ │ │ ├── eigen3 │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── btl_tiny_eigen3.cpp │ │ │ │ │ ├── eigen3_interface.hh │ │ │ │ │ ├── main_adv.cpp │ │ │ │ │ ├── main_linear.cpp │ │ │ │ │ ├── main_matmat.cpp │ │ │ │ │ └── main_vecmat.cpp │ │ │ │ │ ├── gmm │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── gmm_LU_solve_interface.hh │ │ │ │ │ ├── gmm_interface.hh │ │ │ │ │ └── main.cpp │ │ │ │ │ ├── mtl4 │ │ │ │ │ ├── .kdbgrc.main │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── main.cpp │ │ │ │ │ ├── mtl4_LU_solve_interface.hh │ │ │ │ │ └── mtl4_interface.hh │ │ │ │ │ ├── tensors │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── main_linear.cpp │ │ │ │ │ ├── main_matmat.cpp │ │ │ │ │ ├── main_vecmat.cpp │ │ │ │ │ └── tensor_interface.hh │ │ │ │ │ ├── tvmet │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── main.cpp │ │ │ │ │ └── tvmet_interface.hh │ │ │ │ │ └── ublas │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── main.cpp │ │ │ │ │ └── ublas_interface.hh │ │ │ ├── check_cache_queries.cpp │ │ │ ├── dense_solvers.cpp │ │ │ ├── eig33.cpp │ │ │ ├── geometry.cpp │ │ │ ├── perf_monitoring │ │ │ │ ├── changesets.txt │ │ │ │ ├── gemm.cpp │ │ │ │ ├── gemm_common.h │ │ │ │ ├── gemm_settings.txt │ │ │ │ ├── gemm_square_settings.txt │ │ │ │ ├── gemv.cpp │ │ │ │ ├── gemv_common.h │ │ │ │ ├── gemv_settings.txt │ │ │ │ ├── gemv_square_settings.txt │ │ │ │ ├── gemvt.cpp │ │ │ │ ├── lazy_gemm.cpp │ │ │ │ ├── lazy_gemm_settings.txt │ │ │ │ ├── llt.cpp │ │ │ │ ├── make_plot.sh │ │ │ │ ├── resources │ │ │ │ │ ├── chart_footer.html │ │ │ │ │ ├── chart_header.html │ │ │ │ │ ├── footer.html │ │ │ │ │ ├── header.html │ │ │ │ │ ├── s1.js │ │ │ │ │ └── s2.js │ │ │ │ ├── run.sh │ │ │ │ ├── runall.sh │ │ │ │ ├── trmv_lo.cpp │ │ │ │ ├── trmv_lot.cpp │ │ │ │ ├── trmv_up.cpp │ │ │ │ └── trmv_upt.cpp │ │ │ ├── product_threshold.cpp │ │ │ ├── quat_slerp.cpp │ │ │ ├── quatmul.cpp │ │ │ ├── sparse_cholesky.cpp │ │ │ ├── sparse_dense_product.cpp │ │ │ ├── sparse_lu.cpp │ │ │ ├── sparse_product.cpp │ │ │ ├── sparse_randomsetter.cpp │ │ │ ├── sparse_setter.cpp │ │ │ ├── sparse_transpose.cpp │ │ │ ├── sparse_trisolver.cpp │ │ │ ├── spbench │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── sp_solver.cpp │ │ │ │ ├── spbench.dtd │ │ │ │ ├── spbenchsolver.cpp │ │ │ │ ├── spbenchsolver.h │ │ │ │ ├── spbenchstyle.h │ │ │ │ └── test_sparseLU.cpp │ │ │ ├── spmv.cpp │ │ │ ├── tensors │ │ │ │ ├── README │ │ │ │ ├── benchmark.h │ │ │ │ ├── benchmark_main.cc │ │ │ │ ├── contraction_benchmarks_cpu.cc │ │ │ │ ├── eigen_sycl_bench.sh │ │ │ │ ├── eigen_sycl_bench_contract.sh │ │ │ │ ├── tensor_benchmarks.h │ │ │ │ ├── tensor_benchmarks_cpu.cc │ │ │ │ ├── tensor_benchmarks_fp16_gpu.cu │ │ │ │ ├── tensor_benchmarks_gpu.cu │ │ │ │ ├── tensor_benchmarks_sycl.cc │ │ │ │ └── tensor_contract_sycl_bench.cc │ │ │ └── vdw_new.cpp │ │ ├── blas │ │ │ ├── BandTriangularSolver.h │ │ │ ├── CMakeLists.txt │ │ │ ├── GeneralRank1Update.h │ │ │ ├── PackedSelfadjointProduct.h │ │ │ ├── PackedTriangularMatrixVector.h │ │ │ ├── PackedTriangularSolverVector.h │ │ │ ├── README.txt │ │ │ ├── Rank2Update.h │ │ │ ├── common.h │ │ │ ├── complex_double.cpp │ │ │ ├── complex_single.cpp │ │ │ ├── double.cpp │ │ │ ├── f2c │ │ │ │ ├── chbmv.c │ │ │ │ ├── chpmv.c │ │ │ │ ├── complexdots.c │ │ │ │ ├── ctbmv.c │ │ │ │ ├── d_cnjg.c │ │ │ │ ├── datatypes.h │ │ │ │ ├── drotm.c │ │ │ │ ├── drotmg.c │ │ │ │ ├── dsbmv.c │ │ │ │ ├── dspmv.c │ │ │ │ ├── dtbmv.c │ │ │ │ ├── lsame.c │ │ │ │ ├── r_cnjg.c │ │ │ │ ├── srotm.c │ │ │ │ ├── srotmg.c │ │ │ │ ├── ssbmv.c │ │ │ │ ├── sspmv.c │ │ │ │ ├── stbmv.c │ │ │ │ ├── zhbmv.c │ │ │ │ ├── zhpmv.c │ │ │ │ └── ztbmv.c │ │ │ ├── fortran │ │ │ │ └── complexdots.f │ │ │ ├── level1_cplx_impl.h │ │ │ ├── level1_impl.h │ │ │ ├── level1_real_impl.h │ │ │ ├── level2_cplx_impl.h │ │ │ ├── level2_impl.h │ │ │ ├── level2_real_impl.h │ │ │ ├── level3_impl.h │ │ │ ├── single.cpp │ │ │ ├── testing │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── cblat1.f │ │ │ │ ├── cblat2.dat │ │ │ │ ├── cblat2.f │ │ │ │ ├── cblat3.dat │ │ │ │ ├── cblat3.f │ │ │ │ ├── dblat1.f │ │ │ │ ├── dblat2.dat │ │ │ │ ├── dblat2.f │ │ │ │ ├── dblat3.dat │ │ │ │ ├── dblat3.f │ │ │ │ ├── runblastest.sh │ │ │ │ ├── sblat1.f │ │ │ │ ├── sblat2.dat │ │ │ │ ├── sblat2.f │ │ │ │ ├── sblat3.dat │ │ │ │ ├── sblat3.f │ │ │ │ ├── zblat1.f │ │ │ │ ├── zblat2.dat │ │ │ │ ├── zblat2.f │ │ │ │ ├── zblat3.dat │ │ │ │ └── zblat3.f │ │ │ └── xerbla.cpp │ │ ├── ci │ │ │ ├── CTest2JUnit.xsl │ │ │ ├── README.md │ │ │ ├── build.gitlab-ci.yml │ │ │ ├── smoketests.gitlab-ci.yml │ │ │ └── test.gitlab-ci.yml │ │ ├── cmake │ │ │ ├── ComputeCppCompilerChecks.cmake │ │ │ ├── ComputeCppIRMap.cmake │ │ │ ├── Eigen3Config.cmake.in │ │ │ ├── Eigen3ConfigLegacy.cmake.in │ │ │ ├── EigenConfigureTesting.cmake │ │ │ ├── EigenDetermineOSVersion.cmake │ │ │ ├── EigenDetermineVSServicePack.cmake │ │ │ ├── EigenSmokeTestList.cmake │ │ │ ├── EigenTesting.cmake │ │ │ ├── EigenUninstall.cmake │ │ │ ├── FindAdolc.cmake │ │ │ ├── FindBLAS.cmake │ │ │ ├── FindBLASEXT.cmake │ │ │ ├── FindCholmod.cmake │ │ │ ├── FindComputeCpp.cmake │ │ │ ├── FindEigen2.cmake │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindFFTW.cmake │ │ │ ├── FindGLEW.cmake │ │ │ ├── FindGMP.cmake │ │ │ ├── FindGSL.cmake │ │ │ ├── FindGoogleHash.cmake │ │ │ ├── FindHWLOC.cmake │ │ │ ├── FindKLU.cmake │ │ │ ├── FindLAPACK.cmake │ │ │ ├── FindMPFR.cmake │ │ │ ├── FindMPREAL.cmake │ │ │ ├── FindMetis.cmake │ │ │ ├── FindPTSCOTCH.cmake │ │ │ ├── FindPastix.cmake │ │ │ ├── FindSPQR.cmake │ │ │ ├── FindScotch.cmake │ │ │ ├── FindStandardMathLibrary.cmake │ │ │ ├── FindSuperLU.cmake │ │ │ ├── FindTriSYCL.cmake │ │ │ ├── FindUmfpack.cmake │ │ │ ├── RegexUtils.cmake │ │ │ └── UseEigen3.cmake │ │ ├── debug │ │ │ ├── gdb │ │ │ │ ├── __init__.py │ │ │ │ └── printers.py │ │ │ └── msvc │ │ │ │ ├── eigen.natvis │ │ │ │ └── eigen_autoexp_part.dat │ │ ├── demos │ │ │ ├── CMakeLists.txt │ │ │ ├── mandelbrot │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ ├── mandelbrot.cpp │ │ │ │ └── mandelbrot.h │ │ │ ├── mix_eigen_and_c │ │ │ │ ├── README │ │ │ │ ├── binary_library.cpp │ │ │ │ ├── binary_library.h │ │ │ │ └── example.c │ │ │ └── opengl │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README │ │ │ │ ├── camera.cpp │ │ │ │ ├── camera.h │ │ │ │ ├── gpuhelper.cpp │ │ │ │ ├── gpuhelper.h │ │ │ │ ├── icosphere.cpp │ │ │ │ ├── icosphere.h │ │ │ │ ├── quaternion_demo.cpp │ │ │ │ ├── quaternion_demo.h │ │ │ │ ├── trackball.cpp │ │ │ │ └── trackball.h │ │ ├── doc │ │ │ ├── AsciiQuickReference.txt │ │ │ ├── B01_Experimental.dox │ │ │ ├── CMakeLists.txt │ │ │ ├── ClassHierarchy.dox │ │ │ ├── CoeffwiseMathFunctionsTable.dox │ │ │ ├── CustomizingEigen_CustomScalar.dox │ │ │ ├── CustomizingEigen_InheritingMatrix.dox │ │ │ ├── CustomizingEigen_NullaryExpr.dox │ │ │ ├── CustomizingEigen_Plugins.dox │ │ │ ├── DenseDecompositionBenchmark.dox │ │ │ ├── Doxyfile.in │ │ │ ├── Eigen_Silly_Professor_64x64.png │ │ │ ├── FixedSizeVectorizable.dox │ │ │ ├── FunctionsTakingEigenTypes.dox │ │ │ ├── HiPerformance.dox │ │ │ ├── InplaceDecomposition.dox │ │ │ ├── InsideEigenExample.dox │ │ │ ├── LeastSquares.dox │ │ │ ├── Manual.dox │ │ │ ├── MatrixfreeSolverExample.dox │ │ │ ├── NewExpressionType.dox │ │ │ ├── Overview.dox │ │ │ ├── PassingByValue.dox │ │ │ ├── Pitfalls.dox │ │ │ ├── PreprocessorDirectives.dox │ │ │ ├── QuickReference.dox │ │ │ ├── QuickStartGuide.dox │ │ │ ├── SparseLinearSystems.dox │ │ │ ├── SparseQuickReference.dox │ │ │ ├── StlContainers.dox │ │ │ ├── StorageOrders.dox │ │ │ ├── StructHavingEigenMembers.dox │ │ │ ├── TemplateKeyword.dox │ │ │ ├── TopicAliasing.dox │ │ │ ├── TopicAssertions.dox │ │ │ ├── TopicCMakeGuide.dox │ │ │ ├── TopicEigenExpressionTemplates.dox │ │ │ ├── TopicLazyEvaluation.dox │ │ │ ├── TopicLinearAlgebraDecompositions.dox │ │ │ ├── TopicMultithreading.dox │ │ │ ├── TopicResizing.dox │ │ │ ├── TopicScalarTypes.dox │ │ │ ├── TopicVectorization.dox │ │ │ ├── TutorialAdvancedInitialization.dox │ │ │ ├── TutorialArrayClass.dox │ │ │ ├── TutorialBlockOperations.dox │ │ │ ├── TutorialGeometry.dox │ │ │ ├── TutorialLinearAlgebra.dox │ │ │ ├── TutorialMapClass.dox │ │ │ ├── TutorialMatrixArithmetic.dox │ │ │ ├── TutorialMatrixClass.dox │ │ │ ├── TutorialReductionsVisitorsBroadcasting.dox │ │ │ ├── TutorialReshape.dox │ │ │ ├── TutorialSTL.dox │ │ │ ├── TutorialSlicingIndexing.dox │ │ │ ├── TutorialSparse.dox │ │ │ ├── TutorialSparse_example_details.dox │ │ │ ├── UnalignedArrayAssert.dox │ │ │ ├── UsingBlasLapackBackends.dox │ │ │ ├── UsingIntelMKL.dox │ │ │ ├── UsingNVCC.dox │ │ │ ├── WrongStackAlignment.dox │ │ │ ├── eigen_navtree_hacks.js │ │ │ ├── eigendoxy.css │ │ │ ├── eigendoxy_footer.html.in │ │ │ ├── eigendoxy_header.html.in │ │ │ ├── eigendoxy_layout.xml.in │ │ │ ├── eigendoxy_tabs.css │ │ │ ├── examples │ │ │ │ ├── .krazy │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CustomizingEigen_Inheritance.cpp │ │ │ │ ├── Cwise_erf.cpp │ │ │ │ ├── Cwise_erfc.cpp │ │ │ │ ├── Cwise_lgamma.cpp │ │ │ │ ├── DenseBase_middleCols_int.cpp │ │ │ │ ├── DenseBase_middleRows_int.cpp │ │ │ │ ├── DenseBase_template_int_middleCols.cpp │ │ │ │ ├── DenseBase_template_int_middleRows.cpp │ │ │ │ ├── QuickStart_example.cpp │ │ │ │ ├── QuickStart_example2_dynamic.cpp │ │ │ │ ├── QuickStart_example2_fixed.cpp │ │ │ │ ├── TemplateKeyword_flexible.cpp │ │ │ │ ├── TemplateKeyword_simple.cpp │ │ │ │ ├── TutorialInplaceLU.cpp │ │ │ │ ├── TutorialLinAlgComputeTwice.cpp │ │ │ │ ├── TutorialLinAlgExComputeSolveError.cpp │ │ │ │ ├── TutorialLinAlgExSolveColPivHouseholderQR.cpp │ │ │ │ ├── TutorialLinAlgExSolveLDLT.cpp │ │ │ │ ├── TutorialLinAlgInverseDeterminant.cpp │ │ │ │ ├── TutorialLinAlgRankRevealing.cpp │ │ │ │ ├── TutorialLinAlgSVDSolve.cpp │ │ │ │ ├── TutorialLinAlgSelfAdjointEigenSolver.cpp │ │ │ │ ├── TutorialLinAlgSetThreshold.cpp │ │ │ │ ├── Tutorial_ArrayClass_accessors.cpp │ │ │ │ ├── Tutorial_ArrayClass_addition.cpp │ │ │ │ ├── Tutorial_ArrayClass_cwise_other.cpp │ │ │ │ ├── Tutorial_ArrayClass_interop.cpp │ │ │ │ ├── Tutorial_ArrayClass_interop_matrix.cpp │ │ │ │ ├── Tutorial_ArrayClass_mult.cpp │ │ │ │ ├── Tutorial_BlockOperations_block_assignment.cpp │ │ │ │ ├── Tutorial_BlockOperations_colrow.cpp │ │ │ │ ├── Tutorial_BlockOperations_corner.cpp │ │ │ │ ├── Tutorial_BlockOperations_print_block.cpp │ │ │ │ ├── Tutorial_BlockOperations_vector.cpp │ │ │ │ ├── Tutorial_PartialLU_solve.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp │ │ │ │ ├── Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp │ │ │ │ ├── Tutorial_simple_example_dynamic_size.cpp │ │ │ │ ├── Tutorial_simple_example_fixed_size.cpp │ │ │ │ ├── class_Block.cpp │ │ │ │ ├── class_CwiseBinaryOp.cpp │ │ │ │ ├── class_CwiseUnaryOp.cpp │ │ │ │ ├── class_CwiseUnaryOp_ptrfun.cpp │ │ │ │ ├── class_FixedBlock.cpp │ │ │ │ ├── class_FixedReshaped.cpp │ │ │ │ ├── class_FixedVectorBlock.cpp │ │ │ │ ├── class_Reshaped.cpp │ │ │ │ ├── class_VectorBlock.cpp │ │ │ │ ├── function_taking_eigenbase.cpp │ │ │ │ ├── function_taking_ref.cpp │ │ │ │ ├── make_circulant.cpp │ │ │ │ ├── make_circulant.cpp.entry │ │ │ │ ├── make_circulant.cpp.evaluator │ │ │ │ ├── make_circulant.cpp.expression │ │ │ │ ├── make_circulant.cpp.main │ │ │ │ ├── make_circulant.cpp.preamble │ │ │ │ ├── make_circulant.cpp.traits │ │ │ │ ├── make_circulant2.cpp │ │ │ │ ├── matrixfree_cg.cpp │ │ │ │ ├── nullary_indexing.cpp │ │ │ │ ├── tut_arithmetic_add_sub.cpp │ │ │ │ ├── tut_arithmetic_dot_cross.cpp │ │ │ │ ├── tut_arithmetic_matrix_mul.cpp │ │ │ │ ├── tut_arithmetic_redux_basic.cpp │ │ │ │ ├── tut_arithmetic_scalar_mul_div.cpp │ │ │ │ ├── tut_matrix_coefficient_accessors.cpp │ │ │ │ ├── tut_matrix_resize.cpp │ │ │ │ └── tut_matrix_resize_fixed_size.cpp │ │ │ ├── ftv2node.png │ │ │ ├── ftv2pnode.png │ │ │ ├── snippets │ │ │ │ ├── .krazy │ │ │ │ ├── AngleAxis_mimic_euler.cpp │ │ │ │ ├── Array_initializer_list_23_cxx11.cpp │ │ │ │ ├── Array_initializer_list_vector_cxx11.cpp │ │ │ │ ├── Array_variadic_ctor_cxx11.cpp │ │ │ │ ├── BiCGSTAB_simple.cpp │ │ │ │ ├── BiCGSTAB_step_by_step.cpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ColPivHouseholderQR_solve.cpp │ │ │ │ ├── ComplexEigenSolver_compute.cpp │ │ │ │ ├── ComplexEigenSolver_eigenvalues.cpp │ │ │ │ ├── ComplexEigenSolver_eigenvectors.cpp │ │ │ │ ├── ComplexSchur_compute.cpp │ │ │ │ ├── ComplexSchur_matrixT.cpp │ │ │ │ ├── ComplexSchur_matrixU.cpp │ │ │ │ ├── Cwise_abs.cpp │ │ │ │ ├── Cwise_abs2.cpp │ │ │ │ ├── Cwise_acos.cpp │ │ │ │ ├── Cwise_arg.cpp │ │ │ │ ├── Cwise_array_power_array.cpp │ │ │ │ ├── Cwise_asin.cpp │ │ │ │ ├── Cwise_atan.cpp │ │ │ │ ├── Cwise_boolean_and.cpp │ │ │ │ ├── Cwise_boolean_not.cpp │ │ │ │ ├── Cwise_boolean_or.cpp │ │ │ │ ├── Cwise_boolean_xor.cpp │ │ │ │ ├── Cwise_ceil.cpp │ │ │ │ ├── Cwise_cos.cpp │ │ │ │ ├── Cwise_cosh.cpp │ │ │ │ ├── Cwise_cube.cpp │ │ │ │ ├── Cwise_equal_equal.cpp │ │ │ │ ├── Cwise_exp.cpp │ │ │ │ ├── Cwise_floor.cpp │ │ │ │ ├── Cwise_greater.cpp │ │ │ │ ├── Cwise_greater_equal.cpp │ │ │ │ ├── Cwise_inverse.cpp │ │ │ │ ├── Cwise_isFinite.cpp │ │ │ │ ├── Cwise_isInf.cpp │ │ │ │ ├── Cwise_isNaN.cpp │ │ │ │ ├── Cwise_less.cpp │ │ │ │ ├── Cwise_less_equal.cpp │ │ │ │ ├── Cwise_log.cpp │ │ │ │ ├── Cwise_log10.cpp │ │ │ │ ├── Cwise_max.cpp │ │ │ │ ├── Cwise_min.cpp │ │ │ │ ├── Cwise_minus.cpp │ │ │ │ ├── Cwise_minus_equal.cpp │ │ │ │ ├── Cwise_not_equal.cpp │ │ │ │ ├── Cwise_plus.cpp │ │ │ │ ├── Cwise_plus_equal.cpp │ │ │ │ ├── Cwise_pow.cpp │ │ │ │ ├── Cwise_product.cpp │ │ │ │ ├── Cwise_quotient.cpp │ │ │ │ ├── Cwise_rint.cpp │ │ │ │ ├── Cwise_round.cpp │ │ │ │ ├── Cwise_scalar_power_array.cpp │ │ │ │ ├── Cwise_sign.cpp │ │ │ │ ├── Cwise_sin.cpp │ │ │ │ ├── Cwise_sinh.cpp │ │ │ │ ├── Cwise_slash_equal.cpp │ │ │ │ ├── Cwise_sqrt.cpp │ │ │ │ ├── Cwise_square.cpp │ │ │ │ ├── Cwise_tan.cpp │ │ │ │ ├── Cwise_tanh.cpp │ │ │ │ ├── Cwise_times_equal.cpp │ │ │ │ ├── DenseBase_LinSpaced.cpp │ │ │ │ ├── DenseBase_LinSpacedInt.cpp │ │ │ │ ├── DenseBase_LinSpaced_seq_deprecated.cpp │ │ │ │ ├── DenseBase_setLinSpaced.cpp │ │ │ │ ├── DirectionWise_hnormalized.cpp │ │ │ │ ├── DirectionWise_replicate.cpp │ │ │ │ ├── DirectionWise_replicate_int.cpp │ │ │ │ ├── EigenSolver_EigenSolver_MatrixType.cpp │ │ │ │ ├── EigenSolver_compute.cpp │ │ │ │ ├── EigenSolver_eigenvalues.cpp │ │ │ │ ├── EigenSolver_eigenvectors.cpp │ │ │ │ ├── EigenSolver_pseudoEigenvectors.cpp │ │ │ │ ├── FullPivHouseholderQR_solve.cpp │ │ │ │ ├── FullPivLU_image.cpp │ │ │ │ ├── FullPivLU_kernel.cpp │ │ │ │ ├── FullPivLU_solve.cpp │ │ │ │ ├── GeneralizedEigenSolver.cpp │ │ │ │ ├── HessenbergDecomposition_compute.cpp │ │ │ │ ├── HessenbergDecomposition_matrixH.cpp │ │ │ │ ├── HessenbergDecomposition_packedMatrix.cpp │ │ │ │ ├── HouseholderQR_householderQ.cpp │ │ │ │ ├── HouseholderQR_solve.cpp │ │ │ │ ├── HouseholderSequence_HouseholderSequence.cpp │ │ │ │ ├── IOFormat.cpp │ │ │ │ ├── JacobiSVD_basic.cpp │ │ │ │ ├── Jacobi_makeGivens.cpp │ │ │ │ ├── Jacobi_makeJacobi.cpp │ │ │ │ ├── LLT_example.cpp │ │ │ │ ├── LLT_solve.cpp │ │ │ │ ├── LeastSquaresNormalEquations.cpp │ │ │ │ ├── LeastSquaresQR.cpp │ │ │ │ ├── Map_general_stride.cpp │ │ │ │ ├── Map_inner_stride.cpp │ │ │ │ ├── Map_outer_stride.cpp │ │ │ │ ├── Map_placement_new.cpp │ │ │ │ ├── Map_simple.cpp │ │ │ │ ├── MatrixBase_adjoint.cpp │ │ │ │ ├── MatrixBase_all.cpp │ │ │ │ ├── MatrixBase_applyOnTheLeft.cpp │ │ │ │ ├── MatrixBase_applyOnTheRight.cpp │ │ │ │ ├── MatrixBase_array.cpp │ │ │ │ ├── MatrixBase_array_const.cpp │ │ │ │ ├── MatrixBase_asDiagonal.cpp │ │ │ │ ├── MatrixBase_block_int_int.cpp │ │ │ │ ├── MatrixBase_block_int_int_int_int.cpp │ │ │ │ ├── MatrixBase_bottomLeftCorner_int_int.cpp │ │ │ │ ├── MatrixBase_bottomRightCorner_int_int.cpp │ │ │ │ ├── MatrixBase_bottomRows_int.cpp │ │ │ │ ├── MatrixBase_cast.cpp │ │ │ │ ├── MatrixBase_col.cpp │ │ │ │ ├── MatrixBase_colwise.cpp │ │ │ │ ├── MatrixBase_colwise_iterator_cxx11.cpp │ │ │ │ ├── MatrixBase_computeInverseAndDetWithCheck.cpp │ │ │ │ ├── MatrixBase_computeInverseWithCheck.cpp │ │ │ │ ├── MatrixBase_cwiseAbs.cpp │ │ │ │ ├── MatrixBase_cwiseAbs2.cpp │ │ │ │ ├── MatrixBase_cwiseArg.cpp │ │ │ │ ├── MatrixBase_cwiseEqual.cpp │ │ │ │ ├── MatrixBase_cwiseInverse.cpp │ │ │ │ ├── MatrixBase_cwiseMax.cpp │ │ │ │ ├── MatrixBase_cwiseMin.cpp │ │ │ │ ├── MatrixBase_cwiseNotEqual.cpp │ │ │ │ ├── MatrixBase_cwiseProduct.cpp │ │ │ │ ├── MatrixBase_cwiseQuotient.cpp │ │ │ │ ├── MatrixBase_cwiseSign.cpp │ │ │ │ ├── MatrixBase_cwiseSqrt.cpp │ │ │ │ ├── MatrixBase_diagonal.cpp │ │ │ │ ├── MatrixBase_diagonal_int.cpp │ │ │ │ ├── MatrixBase_diagonal_template_int.cpp │ │ │ │ ├── MatrixBase_eigenvalues.cpp │ │ │ │ ├── MatrixBase_end_int.cpp │ │ │ │ ├── MatrixBase_eval.cpp │ │ │ │ ├── MatrixBase_fixedBlock_int_int.cpp │ │ │ │ ├── MatrixBase_hnormalized.cpp │ │ │ │ ├── MatrixBase_homogeneous.cpp │ │ │ │ ├── MatrixBase_identity.cpp │ │ │ │ ├── MatrixBase_identity_int_int.cpp │ │ │ │ ├── MatrixBase_inverse.cpp │ │ │ │ ├── MatrixBase_isDiagonal.cpp │ │ │ │ ├── MatrixBase_isIdentity.cpp │ │ │ │ ├── MatrixBase_isOnes.cpp │ │ │ │ ├── MatrixBase_isOrthogonal.cpp │ │ │ │ ├── MatrixBase_isUnitary.cpp │ │ │ │ ├── MatrixBase_isZero.cpp │ │ │ │ ├── MatrixBase_leftCols_int.cpp │ │ │ │ ├── MatrixBase_noalias.cpp │ │ │ │ ├── MatrixBase_ones.cpp │ │ │ │ ├── MatrixBase_ones_int.cpp │ │ │ │ ├── MatrixBase_ones_int_int.cpp │ │ │ │ ├── MatrixBase_operatorNorm.cpp │ │ │ │ ├── MatrixBase_prod.cpp │ │ │ │ ├── MatrixBase_random.cpp │ │ │ │ ├── MatrixBase_random_int.cpp │ │ │ │ ├── MatrixBase_random_int_int.cpp │ │ │ │ ├── MatrixBase_replicate.cpp │ │ │ │ ├── MatrixBase_replicate_int_int.cpp │ │ │ │ ├── MatrixBase_reshaped_auto.cpp │ │ │ │ ├── MatrixBase_reshaped_fixed.cpp │ │ │ │ ├── MatrixBase_reshaped_int_int.cpp │ │ │ │ ├── MatrixBase_reshaped_to_vector.cpp │ │ │ │ ├── MatrixBase_reverse.cpp │ │ │ │ ├── MatrixBase_rightCols_int.cpp │ │ │ │ ├── MatrixBase_row.cpp │ │ │ │ ├── MatrixBase_rowwise.cpp │ │ │ │ ├── MatrixBase_segment_int_int.cpp │ │ │ │ ├── MatrixBase_select.cpp │ │ │ │ ├── MatrixBase_selfadjointView.cpp │ │ │ │ ├── MatrixBase_set.cpp │ │ │ │ ├── MatrixBase_setIdentity.cpp │ │ │ │ ├── MatrixBase_setOnes.cpp │ │ │ │ ├── MatrixBase_setRandom.cpp │ │ │ │ ├── MatrixBase_setZero.cpp │ │ │ │ ├── MatrixBase_start_int.cpp │ │ │ │ ├── MatrixBase_template_int_bottomRows.cpp │ │ │ │ ├── MatrixBase_template_int_end.cpp │ │ │ │ ├── MatrixBase_template_int_int_block_int_int_int_int.cpp │ │ │ │ ├── MatrixBase_template_int_int_bottomLeftCorner.cpp │ │ │ │ ├── MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp │ │ │ │ ├── MatrixBase_template_int_int_bottomRightCorner.cpp │ │ │ │ ├── MatrixBase_template_int_int_bottomRightCorner_int_int.cpp │ │ │ │ ├── MatrixBase_template_int_int_topLeftCorner.cpp │ │ │ │ ├── MatrixBase_template_int_int_topLeftCorner_int_int.cpp │ │ │ │ ├── MatrixBase_template_int_int_topRightCorner.cpp │ │ │ │ ├── MatrixBase_template_int_int_topRightCorner_int_int.cpp │ │ │ │ ├── MatrixBase_template_int_leftCols.cpp │ │ │ │ ├── MatrixBase_template_int_rightCols.cpp │ │ │ │ ├── MatrixBase_template_int_segment.cpp │ │ │ │ ├── MatrixBase_template_int_start.cpp │ │ │ │ ├── MatrixBase_template_int_topRows.cpp │ │ │ │ ├── MatrixBase_topLeftCorner_int_int.cpp │ │ │ │ ├── MatrixBase_topRightCorner_int_int.cpp │ │ │ │ ├── MatrixBase_topRows_int.cpp │ │ │ │ ├── MatrixBase_transpose.cpp │ │ │ │ ├── MatrixBase_triangularView.cpp │ │ │ │ ├── MatrixBase_zero.cpp │ │ │ │ ├── MatrixBase_zero_int.cpp │ │ │ │ ├── MatrixBase_zero_int_int.cpp │ │ │ │ ├── Matrix_Map_stride.cpp │ │ │ │ ├── Matrix_initializer_list_23_cxx11.cpp │ │ │ │ ├── Matrix_initializer_list_vector_cxx11.cpp │ │ │ │ ├── Matrix_resize_NoChange_int.cpp │ │ │ │ ├── Matrix_resize_int.cpp │ │ │ │ ├── Matrix_resize_int_NoChange.cpp │ │ │ │ ├── Matrix_resize_int_int.cpp │ │ │ │ ├── Matrix_setConstant_int.cpp │ │ │ │ ├── Matrix_setConstant_int_int.cpp │ │ │ │ ├── Matrix_setIdentity_int_int.cpp │ │ │ │ ├── Matrix_setOnes_int.cpp │ │ │ │ ├── Matrix_setOnes_int_int.cpp │ │ │ │ ├── Matrix_setRandom_int.cpp │ │ │ │ ├── Matrix_setRandom_int_int.cpp │ │ │ │ ├── Matrix_setZero_int.cpp │ │ │ │ ├── Matrix_setZero_int_int.cpp │ │ │ │ ├── Matrix_variadic_ctor_cxx11.cpp │ │ │ │ ├── PartialPivLU_solve.cpp │ │ │ │ ├── PartialRedux_count.cpp │ │ │ │ ├── PartialRedux_maxCoeff.cpp │ │ │ │ ├── PartialRedux_minCoeff.cpp │ │ │ │ ├── PartialRedux_norm.cpp │ │ │ │ ├── PartialRedux_prod.cpp │ │ │ │ ├── PartialRedux_squaredNorm.cpp │ │ │ │ ├── PartialRedux_sum.cpp │ │ │ │ ├── RealQZ_compute.cpp │ │ │ │ ├── RealSchur_RealSchur_MatrixType.cpp │ │ │ │ ├── RealSchur_compute.cpp │ │ │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp │ │ │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp │ │ │ │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp │ │ │ │ ├── SelfAdjointEigenSolver_compute_MatrixType.cpp │ │ │ │ ├── SelfAdjointEigenSolver_compute_MatrixType2.cpp │ │ │ │ ├── SelfAdjointEigenSolver_eigenvalues.cpp │ │ │ │ ├── SelfAdjointEigenSolver_eigenvectors.cpp │ │ │ │ ├── SelfAdjointEigenSolver_operatorInverseSqrt.cpp │ │ │ │ ├── SelfAdjointEigenSolver_operatorSqrt.cpp │ │ │ │ ├── SelfAdjointView_eigenvalues.cpp │ │ │ │ ├── SelfAdjointView_operatorNorm.cpp │ │ │ │ ├── Slicing_arrayexpr.cpp │ │ │ │ ├── Slicing_custom_padding_cxx11.cpp │ │ │ │ ├── Slicing_rawarray_cxx11.cpp │ │ │ │ ├── Slicing_stdvector_cxx11.cpp │ │ │ │ ├── SparseMatrix_coeffs.cpp │ │ │ │ ├── TopicAliasing_block.cpp │ │ │ │ ├── TopicAliasing_block_correct.cpp │ │ │ │ ├── TopicAliasing_cwise.cpp │ │ │ │ ├── TopicAliasing_mult1.cpp │ │ │ │ ├── TopicAliasing_mult2.cpp │ │ │ │ ├── TopicAliasing_mult3.cpp │ │ │ │ ├── TopicAliasing_mult4.cpp │ │ │ │ ├── TopicAliasing_mult5.cpp │ │ │ │ ├── TopicStorageOrders_example.cpp │ │ │ │ ├── Triangular_solve.cpp │ │ │ │ ├── Tridiagonalization_Tridiagonalization_MatrixType.cpp │ │ │ │ ├── Tridiagonalization_compute.cpp │ │ │ │ ├── Tridiagonalization_decomposeInPlace.cpp │ │ │ │ ├── Tridiagonalization_diagonal.cpp │ │ │ │ ├── Tridiagonalization_householderCoefficients.cpp │ │ │ │ ├── Tridiagonalization_packedMatrix.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_Block.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_CommaTemporary.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_Join.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_LinSpaced.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_ThreeWays.cpp │ │ │ │ ├── Tutorial_AdvancedInitialization_Zero.cpp │ │ │ │ ├── Tutorial_Map_rowmajor.cpp │ │ │ │ ├── Tutorial_Map_using.cpp │ │ │ │ ├── Tutorial_ReshapeMat2Mat.cpp │ │ │ │ ├── Tutorial_ReshapeMat2Vec.cpp │ │ │ │ ├── Tutorial_SlicingCol.cpp │ │ │ │ ├── Tutorial_SlicingVec.cpp │ │ │ │ ├── Tutorial_commainit_01.cpp │ │ │ │ ├── Tutorial_commainit_01b.cpp │ │ │ │ ├── Tutorial_commainit_02.cpp │ │ │ │ ├── Tutorial_range_for_loop_1d_cxx11.cpp │ │ │ │ ├── Tutorial_range_for_loop_2d_cxx11.cpp │ │ │ │ ├── Tutorial_reshaped_vs_resize_1.cpp │ │ │ │ ├── Tutorial_reshaped_vs_resize_2.cpp │ │ │ │ ├── Tutorial_solve_matrix_inverse.cpp │ │ │ │ ├── Tutorial_solve_multiple_rhs.cpp │ │ │ │ ├── Tutorial_solve_reuse_decomposition.cpp │ │ │ │ ├── Tutorial_solve_singular.cpp │ │ │ │ ├── Tutorial_solve_triangular.cpp │ │ │ │ ├── Tutorial_solve_triangular_inplace.cpp │ │ │ │ ├── Tutorial_std_sort.cpp │ │ │ │ ├── Tutorial_std_sort_rows_cxx11.cpp │ │ │ │ ├── VectorwiseOp_homogeneous.cpp │ │ │ │ ├── Vectorwise_reverse.cpp │ │ │ │ ├── class_FullPivLU.cpp │ │ │ │ ├── compile_snippet.cpp.in │ │ │ │ ├── tut_arithmetic_redux_minmax.cpp │ │ │ │ ├── tut_arithmetic_transpose_aliasing.cpp │ │ │ │ ├── tut_arithmetic_transpose_conjugate.cpp │ │ │ │ ├── tut_arithmetic_transpose_inplace.cpp │ │ │ │ └── tut_matrix_assignment_resizing.cpp │ │ │ ├── special_examples │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Tutorial_sparse_example.cpp │ │ │ │ ├── Tutorial_sparse_example_details.cpp │ │ │ │ └── random_cpp11.cpp │ │ │ └── tutorial.cpp │ │ ├── eigen3.pc.in │ │ ├── failtest │ │ │ ├── CMakeLists.txt │ │ │ ├── bdcsvd_int.cpp │ │ │ ├── block_nonconst_ctor_on_const_xpr_0.cpp │ │ │ ├── block_nonconst_ctor_on_const_xpr_1.cpp │ │ │ ├── block_nonconst_ctor_on_const_xpr_2.cpp │ │ │ ├── block_on_const_type_actually_const_0.cpp │ │ │ ├── block_on_const_type_actually_const_1.cpp │ │ │ ├── colpivqr_int.cpp │ │ │ ├── const_qualified_block_method_retval_0.cpp │ │ │ ├── const_qualified_block_method_retval_1.cpp │ │ │ ├── const_qualified_diagonal_method_retval.cpp │ │ │ ├── const_qualified_transpose_method_retval.cpp │ │ │ ├── cwiseunaryview_nonconst_ctor_on_const_xpr.cpp │ │ │ ├── cwiseunaryview_on_const_type_actually_const.cpp │ │ │ ├── diagonal_nonconst_ctor_on_const_xpr.cpp │ │ │ ├── diagonal_on_const_type_actually_const.cpp │ │ │ ├── eigensolver_cplx.cpp │ │ │ ├── eigensolver_int.cpp │ │ │ ├── failtest_sanity_check.cpp │ │ │ ├── fullpivlu_int.cpp │ │ │ ├── fullpivqr_int.cpp │ │ │ ├── initializer_list_1.cpp │ │ │ ├── initializer_list_2.cpp │ │ │ ├── jacobisvd_int.cpp │ │ │ ├── ldlt_int.cpp │ │ │ ├── llt_int.cpp │ │ │ ├── map_nonconst_ctor_on_const_ptr_0.cpp │ │ │ ├── map_nonconst_ctor_on_const_ptr_1.cpp │ │ │ ├── map_nonconst_ctor_on_const_ptr_2.cpp │ │ │ ├── map_nonconst_ctor_on_const_ptr_3.cpp │ │ │ ├── map_nonconst_ctor_on_const_ptr_4.cpp │ │ │ ├── map_on_const_type_actually_const_0.cpp │ │ │ ├── map_on_const_type_actually_const_1.cpp │ │ │ ├── partialpivlu_int.cpp │ │ │ ├── qr_int.cpp │ │ │ ├── ref_1.cpp │ │ │ ├── ref_2.cpp │ │ │ ├── ref_3.cpp │ │ │ ├── ref_4.cpp │ │ │ ├── ref_5.cpp │ │ │ ├── selfadjointview_nonconst_ctor_on_const_xpr.cpp │ │ │ ├── selfadjointview_on_const_type_actually_const.cpp │ │ │ ├── sparse_ref_1.cpp │ │ │ ├── sparse_ref_2.cpp │ │ │ ├── sparse_ref_3.cpp │ │ │ ├── sparse_ref_4.cpp │ │ │ ├── sparse_ref_5.cpp │ │ │ ├── sparse_storage_mismatch.cpp │ │ │ ├── swap_1.cpp │ │ │ ├── swap_2.cpp │ │ │ ├── ternary_1.cpp │ │ │ ├── ternary_2.cpp │ │ │ ├── transpose_nonconst_ctor_on_const_xpr.cpp │ │ │ ├── transpose_on_const_type_actually_const.cpp │ │ │ ├── triangularview_nonconst_ctor_on_const_xpr.cpp │ │ │ └── triangularview_on_const_type_actually_const.cpp │ │ ├── lapack │ │ │ ├── CMakeLists.txt │ │ │ ├── cholesky.cpp │ │ │ ├── clacgv.f │ │ │ ├── cladiv.f │ │ │ ├── clarf.f │ │ │ ├── clarfb.f │ │ │ ├── clarfg.f │ │ │ ├── clarft.f │ │ │ ├── complex_double.cpp │ │ │ ├── complex_single.cpp │ │ │ ├── dladiv.f │ │ │ ├── dlamch.f │ │ │ ├── dlapy2.f │ │ │ ├── dlapy3.f │ │ │ ├── dlarf.f │ │ │ ├── dlarfb.f │ │ │ ├── dlarfg.f │ │ │ ├── dlarft.f │ │ │ ├── double.cpp │ │ │ ├── dsecnd_NONE.f │ │ │ ├── eigenvalues.cpp │ │ │ ├── ilaclc.f │ │ │ ├── ilaclr.f │ │ │ ├── iladlc.f │ │ │ ├── iladlr.f │ │ │ ├── ilaslc.f │ │ │ ├── ilaslr.f │ │ │ ├── ilazlc.f │ │ │ ├── ilazlr.f │ │ │ ├── lapack_common.h │ │ │ ├── lu.cpp │ │ │ ├── second_NONE.f │ │ │ ├── single.cpp │ │ │ ├── sladiv.f │ │ │ ├── slamch.f │ │ │ ├── slapy2.f │ │ │ ├── slapy3.f │ │ │ ├── slarf.f │ │ │ ├── slarfb.f │ │ │ ├── slarfg.f │ │ │ ├── slarft.f │ │ │ ├── svd.cpp │ │ │ ├── zlacgv.f │ │ │ ├── zladiv.f │ │ │ ├── zlarf.f │ │ │ ├── zlarfb.f │ │ │ ├── zlarfg.f │ │ │ └── zlarft.f │ │ ├── scripts │ │ │ ├── CMakeLists.txt │ │ │ ├── buildtests.in │ │ │ ├── cdashtesting.cmake.in │ │ │ ├── check.in │ │ │ ├── debug.in │ │ │ ├── eigen_gen_credits.cpp │ │ │ ├── eigen_gen_docs │ │ │ ├── eigen_gen_split_test_help.cmake │ │ │ ├── eigen_monitor_perf.sh │ │ │ ├── release.in │ │ │ └── relicense.py │ │ ├── signature_of_eigen3_matrix_library │ │ ├── test │ │ │ ├── AnnoyingScalar.h │ │ │ ├── CMakeLists.txt │ │ │ ├── MovableScalar.h │ │ │ ├── SafeScalar.h │ │ │ ├── adjoint.cpp │ │ │ ├── array_cwise.cpp │ │ │ ├── array_for_matrix.cpp │ │ │ ├── array_of_string.cpp │ │ │ ├── array_replicate.cpp │ │ │ ├── array_reverse.cpp │ │ │ ├── bandmatrix.cpp │ │ │ ├── basicstuff.cpp │ │ │ ├── bdcsvd.cpp │ │ │ ├── bfloat16_float.cpp │ │ │ ├── bicgstab.cpp │ │ │ ├── blasutil.cpp │ │ │ ├── block.cpp │ │ │ ├── boostmultiprec.cpp │ │ │ ├── bug1213.cpp │ │ │ ├── bug1213.h │ │ │ ├── bug1213_main.cpp │ │ │ ├── cholesky.cpp │ │ │ ├── cholmod_support.cpp │ │ │ ├── commainitializer.cpp │ │ │ ├── conjugate_gradient.cpp │ │ │ ├── conservative_resize.cpp │ │ │ ├── constructor.cpp │ │ │ ├── corners.cpp │ │ │ ├── ctorleak.cpp │ │ │ ├── denseLM.cpp │ │ │ ├── dense_storage.cpp │ │ │ ├── determinant.cpp │ │ │ ├── diagonal.cpp │ │ │ ├── diagonal_matrix_variadic_ctor.cpp │ │ │ ├── diagonalmatrices.cpp │ │ │ ├── dontalign.cpp │ │ │ ├── dynalloc.cpp │ │ │ ├── eigen2support.cpp │ │ │ ├── eigensolver_complex.cpp │ │ │ ├── eigensolver_generalized_real.cpp │ │ │ ├── eigensolver_generic.cpp │ │ │ ├── eigensolver_selfadjoint.cpp │ │ │ ├── evaluator_common.h │ │ │ ├── evaluators.cpp │ │ │ ├── exceptions.cpp │ │ │ ├── fastmath.cpp │ │ │ ├── first_aligned.cpp │ │ │ ├── geo_alignedbox.cpp │ │ │ ├── geo_eulerangles.cpp │ │ │ ├── geo_homogeneous.cpp │ │ │ ├── geo_hyperplane.cpp │ │ │ ├── geo_orthomethods.cpp │ │ │ ├── geo_parametrizedline.cpp │ │ │ ├── geo_quaternion.cpp │ │ │ ├── geo_transformations.cpp │ │ │ ├── gpu_basic.cu │ │ │ ├── gpu_common.h │ │ │ ├── half_float.cpp │ │ │ ├── hessenberg.cpp │ │ │ ├── householder.cpp │ │ │ ├── incomplete_cholesky.cpp │ │ │ ├── indexed_view.cpp │ │ │ ├── initializer_list_construction.cpp │ │ │ ├── inplace_decomposition.cpp │ │ │ ├── integer_types.cpp │ │ │ ├── inverse.cpp │ │ │ ├── io.cpp │ │ │ ├── is_same_dense.cpp │ │ │ ├── jacobi.cpp │ │ │ ├── jacobisvd.cpp │ │ │ ├── klu_support.cpp │ │ │ ├── linearstructure.cpp │ │ │ ├── lscg.cpp │ │ │ ├── lu.cpp │ │ │ ├── main.h │ │ │ ├── mapped_matrix.cpp │ │ │ ├── mapstaticmethods.cpp │ │ │ ├── mapstride.cpp │ │ │ ├── meta.cpp │ │ │ ├── metis_support.cpp │ │ │ ├── miscmatrices.cpp │ │ │ ├── mixingtypes.cpp │ │ │ ├── mpl2only.cpp │ │ │ ├── nestbyvalue.cpp │ │ │ ├── nesting_ops.cpp │ │ │ ├── nomalloc.cpp │ │ │ ├── nullary.cpp │ │ │ ├── num_dimensions.cpp │ │ │ ├── numext.cpp │ │ │ ├── packetmath.cpp │ │ │ ├── packetmath_test_shared.h │ │ │ ├── pardiso_support.cpp │ │ │ ├── pastix_support.cpp │ │ │ ├── permutationmatrices.cpp │ │ │ ├── prec_inverse_4x4.cpp │ │ │ ├── product.h │ │ │ ├── product_extra.cpp │ │ │ ├── product_large.cpp │ │ │ ├── product_mmtr.cpp │ │ │ ├── product_notemporary.cpp │ │ │ ├── product_selfadjoint.cpp │ │ │ ├── product_small.cpp │ │ │ ├── product_symm.cpp │ │ │ ├── product_syrk.cpp │ │ │ ├── product_trmm.cpp │ │ │ ├── product_trmv.cpp │ │ │ ├── product_trsolve.cpp │ │ │ ├── qr.cpp │ │ │ ├── qr_colpivoting.cpp │ │ │ ├── qr_fullpivoting.cpp │ │ │ ├── qtvector.cpp │ │ │ ├── rand.cpp │ │ │ ├── random_without_cast_overflow.h │ │ │ ├── real_qz.cpp │ │ │ ├── redux.cpp │ │ │ ├── ref.cpp │ │ │ ├── reshape.cpp │ │ │ ├── resize.cpp │ │ │ ├── rvalue_types.cpp │ │ │ ├── schur_complex.cpp │ │ │ ├── schur_real.cpp │ │ │ ├── selfadjoint.cpp │ │ │ ├── simplicial_cholesky.cpp │ │ │ ├── sizeof.cpp │ │ │ ├── sizeoverflow.cpp │ │ │ ├── smallvectors.cpp │ │ │ ├── solverbase.h │ │ │ ├── sparse.h │ │ │ ├── sparseLM.cpp │ │ │ ├── sparse_basic.cpp │ │ │ ├── sparse_block.cpp │ │ │ ├── sparse_permutations.cpp │ │ │ ├── sparse_product.cpp │ │ │ ├── sparse_ref.cpp │ │ │ ├── sparse_solver.h │ │ │ ├── sparse_solvers.cpp │ │ │ ├── sparse_vector.cpp │ │ │ ├── sparselu.cpp │ │ │ ├── sparseqr.cpp │ │ │ ├── special_numbers.cpp │ │ │ ├── split_test_helper.h │ │ │ ├── spqr_support.cpp │ │ │ ├── stable_norm.cpp │ │ │ ├── stddeque.cpp │ │ │ ├── stddeque_overload.cpp │ │ │ ├── stdlist.cpp │ │ │ ├── stdlist_overload.cpp │ │ │ ├── stdvector.cpp │ │ │ ├── stdvector_overload.cpp │ │ │ ├── stl_iterators.cpp │ │ │ ├── superlu_support.cpp │ │ │ ├── svd_common.h │ │ │ ├── svd_fill.h │ │ │ ├── swap.cpp │ │ │ ├── symbolic_index.cpp │ │ │ ├── triangular.cpp │ │ │ ├── type_alias.cpp │ │ │ ├── umeyama.cpp │ │ │ ├── umfpack_support.cpp │ │ │ ├── unalignedcount.cpp │ │ │ ├── upperbidiagonalization.cpp │ │ │ ├── vectorization_logic.cpp │ │ │ ├── vectorwiseop.cpp │ │ │ ├── visitor.cpp │ │ │ └── zerosized.cpp │ │ └── unsupported │ │ │ ├── CMakeLists.txt │ │ │ ├── Eigen │ │ │ ├── AdolcForward │ │ │ ├── AlignedVector3 │ │ │ ├── ArpackSupport │ │ │ ├── AutoDiff │ │ │ ├── BVH │ │ │ ├── CMakeLists.txt │ │ │ ├── CXX11 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Tensor │ │ │ │ ├── TensorSymmetry │ │ │ │ ├── ThreadPool │ │ │ │ └── src │ │ │ │ │ ├── Tensor │ │ │ │ │ ├── README.md │ │ │ │ │ ├── Tensor.h │ │ │ │ │ ├── TensorArgMax.h │ │ │ │ │ ├── TensorAssign.h │ │ │ │ │ ├── TensorBase.h │ │ │ │ │ ├── TensorBlock.h │ │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ │ ├── TensorChipping.h │ │ │ │ │ ├── TensorConcatenation.h │ │ │ │ │ ├── TensorContraction.h │ │ │ │ │ ├── TensorContractionBlocking.h │ │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ │ ├── TensorContractionGpu.h │ │ │ │ │ ├── TensorContractionMapper.h │ │ │ │ │ ├── TensorContractionSycl.h │ │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ │ ├── TensorConversion.h │ │ │ │ │ ├── TensorConvolution.h │ │ │ │ │ ├── TensorConvolutionSycl.h │ │ │ │ │ ├── TensorCostModel.h │ │ │ │ │ ├── TensorCustomOp.h │ │ │ │ │ ├── TensorDevice.h │ │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ │ ├── TensorDeviceDefault.h │ │ │ │ │ ├── TensorDeviceGpu.h │ │ │ │ │ ├── TensorDeviceSycl.h │ │ │ │ │ ├── TensorDeviceThreadPool.h │ │ │ │ │ ├── TensorDimensionList.h │ │ │ │ │ ├── TensorDimensions.h │ │ │ │ │ ├── TensorEvalTo.h │ │ │ │ │ ├── TensorEvaluator.h │ │ │ │ │ ├── TensorExecutor.h │ │ │ │ │ ├── TensorExpr.h │ │ │ │ │ ├── TensorFFT.h │ │ │ │ │ ├── TensorFixedSize.h │ │ │ │ │ ├── TensorForcedEval.h │ │ │ │ │ ├── TensorForwardDeclarations.h │ │ │ │ │ ├── TensorFunctors.h │ │ │ │ │ ├── TensorGenerator.h │ │ │ │ │ ├── TensorGlobalFunctions.h │ │ │ │ │ ├── TensorGpuHipCudaDefines.h │ │ │ │ │ ├── TensorGpuHipCudaUndefines.h │ │ │ │ │ ├── TensorIO.h │ │ │ │ │ ├── TensorImagePatch.h │ │ │ │ │ ├── TensorIndexList.h │ │ │ │ │ ├── TensorInflation.h │ │ │ │ │ ├── TensorInitializer.h │ │ │ │ │ ├── TensorIntDiv.h │ │ │ │ │ ├── TensorLayoutSwap.h │ │ │ │ │ ├── TensorMacros.h │ │ │ │ │ ├── TensorMap.h │ │ │ │ │ ├── TensorMeta.h │ │ │ │ │ ├── TensorMorphing.h │ │ │ │ │ ├── TensorPadding.h │ │ │ │ │ ├── TensorPatch.h │ │ │ │ │ ├── TensorRandom.h │ │ │ │ │ ├── TensorReduction.h │ │ │ │ │ ├── TensorReductionCuda.h │ │ │ │ │ ├── TensorReductionGpu.h │ │ │ │ │ ├── TensorReductionSycl.h │ │ │ │ │ ├── TensorRef.h │ │ │ │ │ ├── TensorReverse.h │ │ │ │ │ ├── TensorScan.h │ │ │ │ │ ├── TensorScanSycl.h │ │ │ │ │ ├── TensorShuffling.h │ │ │ │ │ ├── TensorStorage.h │ │ │ │ │ ├── TensorStriding.h │ │ │ │ │ ├── TensorTrace.h │ │ │ │ │ ├── TensorTraits.h │ │ │ │ │ ├── TensorUInt128.h │ │ │ │ │ └── TensorVolumePatch.h │ │ │ │ │ ├── TensorSymmetry │ │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ │ ├── StaticSymmetry.h │ │ │ │ │ ├── Symmetry.h │ │ │ │ │ └── util │ │ │ │ │ │ └── TemplateGroupTheory.h │ │ │ │ │ ├── ThreadPool │ │ │ │ │ ├── Barrier.h │ │ │ │ │ ├── EventCount.h │ │ │ │ │ ├── NonBlockingThreadPool.h │ │ │ │ │ ├── RunQueue.h │ │ │ │ │ ├── ThreadCancel.h │ │ │ │ │ ├── ThreadEnvironment.h │ │ │ │ │ ├── ThreadLocal.h │ │ │ │ │ ├── ThreadPoolInterface.h │ │ │ │ │ └── ThreadYield.h │ │ │ │ │ └── util │ │ │ │ │ ├── CXX11Meta.h │ │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ │ ├── EmulateArray.h │ │ │ │ │ └── MaxSizeVector.h │ │ │ ├── EulerAngles │ │ │ ├── FFT │ │ │ ├── IterativeSolvers │ │ │ ├── KroneckerProduct │ │ │ ├── LevenbergMarquardt │ │ │ ├── MPRealSupport │ │ │ ├── MatrixFunctions │ │ │ ├── MoreVectorization │ │ │ ├── NonLinearOptimization │ │ │ ├── NumericalDiff │ │ │ ├── OpenGLSupport │ │ │ ├── Polynomials │ │ │ ├── Skyline │ │ │ ├── SparseExtra │ │ │ ├── SpecialFunctions │ │ │ ├── Splines │ │ │ └── src │ │ │ │ ├── AutoDiff │ │ │ │ ├── AutoDiffJacobian.h │ │ │ │ ├── AutoDiffScalar.h │ │ │ │ └── AutoDiffVector.h │ │ │ │ ├── BVH │ │ │ │ ├── BVAlgorithms.h │ │ │ │ └── KdBVH.h │ │ │ │ ├── Eigenvalues │ │ │ │ └── ArpackSelfAdjointEigenSolver.h │ │ │ │ ├── EulerAngles │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── EulerAngles.h │ │ │ │ └── EulerSystem.h │ │ │ │ ├── FFT │ │ │ │ ├── ei_fftw_impl.h │ │ │ │ └── ei_kissfft_impl.h │ │ │ │ ├── IterativeSolvers │ │ │ │ ├── ConstrainedConjGrad.h │ │ │ │ ├── DGMRES.h │ │ │ │ ├── GMRES.h │ │ │ │ ├── IDRS.h │ │ │ │ ├── IncompleteLU.h │ │ │ │ ├── IterationController.h │ │ │ │ ├── MINRES.h │ │ │ │ └── Scaling.h │ │ │ │ ├── KroneckerProduct │ │ │ │ └── KroneckerTensorProduct.h │ │ │ │ ├── LevenbergMarquardt │ │ │ │ ├── CopyrightMINPACK.txt │ │ │ │ ├── LMcovar.h │ │ │ │ ├── LMonestep.h │ │ │ │ ├── LMpar.h │ │ │ │ ├── LMqrsolv.h │ │ │ │ └── LevenbergMarquardt.h │ │ │ │ ├── MatrixFunctions │ │ │ │ ├── MatrixExponential.h │ │ │ │ ├── MatrixFunction.h │ │ │ │ ├── MatrixLogarithm.h │ │ │ │ ├── MatrixPower.h │ │ │ │ ├── MatrixSquareRoot.h │ │ │ │ └── StemFunction.h │ │ │ │ ├── MoreVectorization │ │ │ │ └── MathFunctions.h │ │ │ │ ├── NonLinearOptimization │ │ │ │ ├── HybridNonLinearSolver.h │ │ │ │ ├── LevenbergMarquardt.h │ │ │ │ ├── chkder.h │ │ │ │ ├── covar.h │ │ │ │ ├── dogleg.h │ │ │ │ ├── fdjac1.h │ │ │ │ ├── lmpar.h │ │ │ │ ├── qrsolv.h │ │ │ │ ├── r1mpyq.h │ │ │ │ ├── r1updt.h │ │ │ │ └── rwupdt.h │ │ │ │ ├── NumericalDiff │ │ │ │ └── NumericalDiff.h │ │ │ │ ├── Polynomials │ │ │ │ ├── Companion.h │ │ │ │ ├── PolynomialSolver.h │ │ │ │ └── PolynomialUtils.h │ │ │ │ ├── Skyline │ │ │ │ ├── SkylineInplaceLU.h │ │ │ │ ├── SkylineMatrix.h │ │ │ │ ├── SkylineMatrixBase.h │ │ │ │ ├── SkylineProduct.h │ │ │ │ ├── SkylineStorage.h │ │ │ │ └── SkylineUtil.h │ │ │ │ ├── SparseExtra │ │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ │ ├── BlockSparseMatrix.h │ │ │ │ ├── DynamicSparseMatrix.h │ │ │ │ ├── MarketIO.h │ │ │ │ ├── MatrixMarketIterator.h │ │ │ │ └── RandomSetter.h │ │ │ │ ├── SpecialFunctions │ │ │ │ ├── BesselFunctionsArrayAPI.h │ │ │ │ ├── BesselFunctionsBFloat16.h │ │ │ │ ├── BesselFunctionsFunctors.h │ │ │ │ ├── BesselFunctionsHalf.h │ │ │ │ ├── BesselFunctionsImpl.h │ │ │ │ ├── BesselFunctionsPacketMath.h │ │ │ │ ├── HipVectorCompatibility.h │ │ │ │ ├── SpecialFunctionsArrayAPI.h │ │ │ │ ├── SpecialFunctionsBFloat16.h │ │ │ │ ├── SpecialFunctionsFunctors.h │ │ │ │ ├── SpecialFunctionsHalf.h │ │ │ │ ├── SpecialFunctionsImpl.h │ │ │ │ ├── SpecialFunctionsPacketMath.h │ │ │ │ └── arch │ │ │ │ │ ├── AVX │ │ │ │ │ ├── BesselFunctions.h │ │ │ │ │ └── SpecialFunctions.h │ │ │ │ │ ├── AVX512 │ │ │ │ │ ├── BesselFunctions.h │ │ │ │ │ └── SpecialFunctions.h │ │ │ │ │ ├── GPU │ │ │ │ │ └── SpecialFunctions.h │ │ │ │ │ └── NEON │ │ │ │ │ ├── BesselFunctions.h │ │ │ │ │ └── SpecialFunctions.h │ │ │ │ └── Splines │ │ │ │ ├── Spline.h │ │ │ │ ├── SplineFitting.h │ │ │ │ └── SplineFwd.h │ │ │ ├── README.txt │ │ │ ├── bench │ │ │ └── bench_svd.cpp │ │ │ ├── doc │ │ │ ├── CMakeLists.txt │ │ │ ├── Overview.dox │ │ │ ├── SYCL.dox │ │ │ ├── eigendoxy_layout.xml.in │ │ │ ├── examples │ │ │ │ ├── BVH_Example.cpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── EulerAngles.cpp │ │ │ │ ├── FFT.cpp │ │ │ │ ├── MatrixExponential.cpp │ │ │ │ ├── MatrixFunction.cpp │ │ │ │ ├── MatrixLogarithm.cpp │ │ │ │ ├── MatrixPower.cpp │ │ │ │ ├── MatrixPower_optimal.cpp │ │ │ │ ├── MatrixSine.cpp │ │ │ │ ├── MatrixSinh.cpp │ │ │ │ ├── MatrixSquareRoot.cpp │ │ │ │ ├── PolynomialSolver1.cpp │ │ │ │ ├── PolynomialUtils1.cpp │ │ │ │ └── SYCL │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── CwiseMul.cpp │ │ │ └── snippets │ │ │ │ └── CMakeLists.txt │ │ │ └── test │ │ │ ├── BVH.cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── EulerAngles.cpp │ │ │ ├── FFT.cpp │ │ │ ├── FFTW.cpp │ │ │ ├── NonLinearOptimization.cpp │ │ │ ├── NumericalDiff.cpp │ │ │ ├── alignedvector3.cpp │ │ │ ├── autodiff.cpp │ │ │ ├── autodiff_scalar.cpp │ │ │ ├── bessel_functions.cpp │ │ │ ├── cxx11_eventcount.cpp │ │ │ ├── cxx11_maxsizevector.cpp │ │ │ ├── cxx11_meta.cpp │ │ │ ├── cxx11_non_blocking_thread_pool.cpp │ │ │ ├── cxx11_runqueue.cpp │ │ │ ├── cxx11_tensor_argmax.cpp │ │ │ ├── cxx11_tensor_argmax_gpu.cu │ │ │ ├── cxx11_tensor_argmax_sycl.cpp │ │ │ ├── cxx11_tensor_assign.cpp │ │ │ ├── cxx11_tensor_block_access.cpp │ │ │ ├── cxx11_tensor_block_eval.cpp │ │ │ ├── cxx11_tensor_block_io.cpp │ │ │ ├── cxx11_tensor_broadcast_sycl.cpp │ │ │ ├── cxx11_tensor_broadcasting.cpp │ │ │ ├── cxx11_tensor_builtins_sycl.cpp │ │ │ ├── cxx11_tensor_cast_float16_gpu.cu │ │ │ ├── cxx11_tensor_casts.cpp │ │ │ ├── cxx11_tensor_chipping.cpp │ │ │ ├── cxx11_tensor_chipping_sycl.cpp │ │ │ ├── cxx11_tensor_comparisons.cpp │ │ │ ├── cxx11_tensor_complex_cwise_ops_gpu.cu │ │ │ ├── cxx11_tensor_complex_gpu.cu │ │ │ ├── cxx11_tensor_concatenation.cpp │ │ │ ├── cxx11_tensor_concatenation_sycl.cpp │ │ │ ├── cxx11_tensor_const.cpp │ │ │ ├── cxx11_tensor_contract_gpu.cu │ │ │ ├── cxx11_tensor_contract_sycl.cpp │ │ │ ├── cxx11_tensor_contraction.cpp │ │ │ ├── cxx11_tensor_convolution.cpp │ │ │ ├── cxx11_tensor_convolution_sycl.cpp │ │ │ ├── cxx11_tensor_custom_index.cpp │ │ │ ├── cxx11_tensor_custom_op.cpp │ │ │ ├── cxx11_tensor_custom_op_sycl.cpp │ │ │ ├── cxx11_tensor_device.cu │ │ │ ├── cxx11_tensor_device_sycl.cpp │ │ │ ├── cxx11_tensor_dimension.cpp │ │ │ ├── cxx11_tensor_empty.cpp │ │ │ ├── cxx11_tensor_executor.cpp │ │ │ ├── cxx11_tensor_expr.cpp │ │ │ ├── cxx11_tensor_fft.cpp │ │ │ ├── cxx11_tensor_fixed_size.cpp │ │ │ ├── cxx11_tensor_forced_eval.cpp │ │ │ ├── cxx11_tensor_forced_eval_sycl.cpp │ │ │ ├── cxx11_tensor_generator.cpp │ │ │ ├── cxx11_tensor_generator_sycl.cpp │ │ │ ├── cxx11_tensor_gpu.cu │ │ │ ├── cxx11_tensor_ifft.cpp │ │ │ ├── cxx11_tensor_image_op_sycl.cpp │ │ │ ├── cxx11_tensor_image_patch.cpp │ │ │ ├── cxx11_tensor_image_patch_sycl.cpp │ │ │ ├── cxx11_tensor_index_list.cpp │ │ │ ├── cxx11_tensor_inflation.cpp │ │ │ ├── cxx11_tensor_inflation_sycl.cpp │ │ │ ├── cxx11_tensor_intdiv.cpp │ │ │ ├── cxx11_tensor_io.cpp │ │ │ ├── cxx11_tensor_layout_swap.cpp │ │ │ ├── cxx11_tensor_layout_swap_sycl.cpp │ │ │ ├── cxx11_tensor_lvalue.cpp │ │ │ ├── cxx11_tensor_map.cpp │ │ │ ├── cxx11_tensor_math.cpp │ │ │ ├── cxx11_tensor_math_sycl.cpp │ │ │ ├── cxx11_tensor_mixed_indices.cpp │ │ │ ├── cxx11_tensor_morphing.cpp │ │ │ ├── cxx11_tensor_morphing_sycl.cpp │ │ │ ├── cxx11_tensor_move.cpp │ │ │ ├── cxx11_tensor_notification.cpp │ │ │ ├── cxx11_tensor_of_complex.cpp │ │ │ ├── cxx11_tensor_of_const_values.cpp │ │ │ ├── cxx11_tensor_of_float16_gpu.cu │ │ │ ├── cxx11_tensor_of_strings.cpp │ │ │ ├── cxx11_tensor_padding.cpp │ │ │ ├── cxx11_tensor_padding_sycl.cpp │ │ │ ├── cxx11_tensor_patch.cpp │ │ │ ├── cxx11_tensor_patch_sycl.cpp │ │ │ ├── cxx11_tensor_random.cpp │ │ │ ├── cxx11_tensor_random_gpu.cu │ │ │ ├── cxx11_tensor_random_sycl.cpp │ │ │ ├── cxx11_tensor_reduction.cpp │ │ │ ├── cxx11_tensor_reduction_gpu.cu │ │ │ ├── cxx11_tensor_reduction_sycl.cpp │ │ │ ├── cxx11_tensor_ref.cpp │ │ │ ├── cxx11_tensor_reverse.cpp │ │ │ ├── cxx11_tensor_reverse_sycl.cpp │ │ │ ├── cxx11_tensor_roundings.cpp │ │ │ ├── cxx11_tensor_scan.cpp │ │ │ ├── cxx11_tensor_scan_gpu.cu │ │ │ ├── cxx11_tensor_scan_sycl.cpp │ │ │ ├── cxx11_tensor_shuffling.cpp │ │ │ ├── cxx11_tensor_shuffling_sycl.cpp │ │ │ ├── cxx11_tensor_simple.cpp │ │ │ ├── cxx11_tensor_striding.cpp │ │ │ ├── cxx11_tensor_striding_sycl.cpp │ │ │ ├── cxx11_tensor_sugar.cpp │ │ │ ├── cxx11_tensor_sycl.cpp │ │ │ ├── cxx11_tensor_symmetry.cpp │ │ │ ├── cxx11_tensor_thread_local.cpp │ │ │ ├── cxx11_tensor_thread_pool.cpp │ │ │ ├── cxx11_tensor_trace.cpp │ │ │ ├── cxx11_tensor_uint128.cpp │ │ │ ├── cxx11_tensor_volume_patch.cpp │ │ │ ├── cxx11_tensor_volume_patch_sycl.cpp │ │ │ ├── dgmres.cpp │ │ │ ├── forward_adolc.cpp │ │ │ ├── gmres.cpp │ │ │ ├── idrs.cpp │ │ │ ├── kronecker_product.cpp │ │ │ ├── levenberg_marquardt.cpp │ │ │ ├── matrix_exponential.cpp │ │ │ ├── matrix_function.cpp │ │ │ ├── matrix_functions.h │ │ │ ├── matrix_power.cpp │ │ │ ├── matrix_square_root.cpp │ │ │ ├── minres.cpp │ │ │ ├── mpreal_support.cpp │ │ │ ├── openglsupport.cpp │ │ │ ├── polynomialsolver.cpp │ │ │ ├── polynomialutils.cpp │ │ │ ├── sparse_extra.cpp │ │ │ ├── special_functions.cpp │ │ │ ├── special_packetmath.cpp │ │ │ └── splines.cpp │ ├── Spectra │ │ ├── DavidsonSymEigsSolver.h │ │ ├── GenEigsBase.h │ │ ├── GenEigsComplexShiftSolver.h │ │ ├── GenEigsRealShiftSolver.h │ │ ├── GenEigsSolver.h │ │ ├── HermEigsBase.h │ │ ├── HermEigsSolver.h │ │ ├── JDSymEigsBase.h │ │ ├── LinAlg │ │ │ ├── Arnoldi.h │ │ │ ├── BKLDLT.h │ │ │ ├── DoubleShiftQR.h │ │ │ ├── Lanczos.h │ │ │ ├── Orthogonalization.h │ │ │ ├── RitzPairs.h │ │ │ ├── SearchSpace.h │ │ │ ├── TridiagEigen.h │ │ │ ├── UpperHessenbergEigen.h │ │ │ ├── UpperHessenbergQR.h │ │ │ └── UpperHessenbergSchur.h │ │ ├── MatOp │ │ │ ├── DenseCholesky.h │ │ │ ├── DenseGenComplexShiftSolve.h │ │ │ ├── DenseGenMatProd.h │ │ │ ├── DenseGenRealShiftSolve.h │ │ │ ├── DenseHermMatProd.h │ │ │ ├── DenseSymMatProd.h │ │ │ ├── DenseSymShiftSolve.h │ │ │ ├── SparseCholesky.h │ │ │ ├── SparseGenComplexShiftSolve.h │ │ │ ├── SparseGenMatProd.h │ │ │ ├── SparseGenRealShiftSolve.h │ │ │ ├── SparseHermMatProd.h │ │ │ ├── SparseRegularInverse.h │ │ │ ├── SparseSymMatProd.h │ │ │ ├── SparseSymShiftSolve.h │ │ │ ├── SymShiftInvert.h │ │ │ └── internal │ │ │ │ ├── ArnoldiOp.h │ │ │ │ ├── SymGEigsBucklingOp.h │ │ │ │ ├── SymGEigsCayleyOp.h │ │ │ │ ├── SymGEigsCholeskyOp.h │ │ │ │ ├── SymGEigsRegInvOp.h │ │ │ │ └── SymGEigsShiftInvertOp.h │ │ ├── SymEigsShiftSolver.h │ │ ├── SymEigsSolver.h │ │ ├── SymGEigsShiftSolver.h │ │ ├── SymGEigsSolver.h │ │ ├── Util │ │ │ ├── CompInfo.h │ │ │ ├── GEigsMode.h │ │ │ ├── SelectionRule.h │ │ │ ├── SimpleRandom.h │ │ │ ├── TypeTraits.h │ │ │ └── Version.h │ │ └── contrib │ │ │ ├── LOBPCGSolver.h │ │ │ └── PartialSVDSolver.h │ ├── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ └── xerbla │ │ │ ├── Makefile │ │ │ ├── xerbla.c │ │ │ ├── xerbla.f │ │ │ └── xerbla.h │ ├── cephes │ │ ├── CMakeLists.txt │ │ ├── LICENSE.txt │ │ ├── README.md │ │ ├── cephes.h │ │ └── cephes │ │ │ ├── airy.c │ │ │ ├── bdtr.c │ │ │ ├── besselpoly.c │ │ │ ├── beta.c │ │ │ ├── btdtr.c │ │ │ ├── cbrt.c │ │ │ ├── chbevl.c │ │ │ ├── chdtr.c │ │ │ ├── const.c │ │ │ ├── dawsn.c │ │ │ ├── dd_idefs.h │ │ │ ├── dd_real.c │ │ │ ├── dd_real.h │ │ │ ├── dd_real_idefs.h │ │ │ ├── ellie.c │ │ │ ├── ellik.c │ │ │ ├── ellpe.c │ │ │ ├── ellpj.c │ │ │ ├── ellpk.c │ │ │ ├── erfinv.c │ │ │ ├── exp10.c │ │ │ ├── exp2.c │ │ │ ├── expn.c │ │ │ ├── expn.h │ │ │ ├── fdtr.c │ │ │ ├── fresnl.c │ │ │ ├── gamma.c │ │ │ ├── gammasgn.c │ │ │ ├── gdtr.c │ │ │ ├── hyp2f1.c │ │ │ ├── hyperg.c │ │ │ ├── i0.c │ │ │ ├── i1.c │ │ │ ├── igam.c │ │ │ ├── igam.h │ │ │ ├── igami.c │ │ │ ├── incbet.c │ │ │ ├── incbi.c │ │ │ ├── j0.c │ │ │ ├── j1.c │ │ │ ├── jv.c │ │ │ ├── k0.c │ │ │ ├── k1.c │ │ │ ├── kn.c │ │ │ ├── kolmogorov.c │ │ │ ├── lanczos.c │ │ │ ├── lanczos.h │ │ │ ├── mconf.h │ │ │ ├── nbdtr.c │ │ │ ├── ndtr.c │ │ │ ├── ndtri.c │ │ │ ├── owens_t.c │ │ │ ├── pdtr.c │ │ │ ├── poch.c │ │ │ ├── polevl.h │ │ │ ├── psi.c │ │ │ ├── rgamma.c │ │ │ ├── round.c │ │ │ ├── scipy_iv.c │ │ │ ├── sf_error.c │ │ │ ├── sf_error.h │ │ │ ├── shichi.c │ │ │ ├── sici.c │ │ │ ├── sindg.c │ │ │ ├── sinpi.c │ │ │ ├── spence.c │ │ │ ├── stdtr.c │ │ │ ├── struve.c │ │ │ ├── tandg.c │ │ │ ├── tukey.c │ │ │ ├── unity.c │ │ │ ├── yn.c │ │ │ ├── yv.c │ │ │ ├── zeta.c │ │ │ └── zetac.c │ ├── ceres │ │ ├── CMakeLists.txt │ │ ├── autodiff.h │ │ ├── eigen.h │ │ ├── example.h │ │ ├── fixed_array.h │ │ ├── fpclassify.h │ │ ├── jet.h │ │ ├── macros.h │ │ ├── manual_constructor.h │ │ ├── rotation.h │ │ └── variadic_evaluate.h │ └── metis │ │ ├── BUILD-Windows.txt │ │ ├── BUILD.txt │ │ ├── CMakeLists.txt │ │ ├── Changelog │ │ ├── GKlib │ │ ├── BUILD.txt │ │ ├── CMakeLists.txt │ │ ├── GKlib.h │ │ ├── GKlibSystem.cmake │ │ ├── Makefile │ │ ├── b64.c │ │ ├── blas.c │ │ ├── conf │ │ │ └── check_thread_storage.c │ │ ├── csr.c │ │ ├── error.c │ │ ├── evaluate.c │ │ ├── fkvkselect.c │ │ ├── fs.c │ │ ├── getopt.c │ │ ├── gk_arch.h │ │ ├── gk_defs.h │ │ ├── gk_externs.h │ │ ├── gk_getopt.h │ │ ├── gk_macros.h │ │ ├── gk_mkblas.h │ │ ├── gk_mkmemory.h │ │ ├── gk_mkpqueue.h │ │ ├── gk_mkpqueue2.h │ │ ├── gk_mkrandom.h │ │ ├── gk_mksort.h │ │ ├── gk_mkutils.h │ │ ├── gk_proto.h │ │ ├── gk_struct.h │ │ ├── gk_types.h │ │ ├── gkregex.c │ │ ├── gkregex.h │ │ ├── graph.c │ │ ├── htable.c │ │ ├── io.c │ │ ├── itemsets.c │ │ ├── mcore.c │ │ ├── memory.c │ │ ├── ms_inttypes.h │ │ ├── ms_stat.h │ │ ├── ms_stdint.h │ │ ├── omp.c │ │ ├── pdb.c │ │ ├── pqueue.c │ │ ├── random.c │ │ ├── rw.c │ │ ├── seq.c │ │ ├── sort.c │ │ ├── string.c │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ ├── Makefile.in.old │ │ │ ├── Makefile.old │ │ │ ├── fis.c │ │ │ ├── gkgraph.c │ │ │ ├── gksort.c │ │ │ ├── rw.c │ │ │ └── strings.c │ │ ├── timers.c │ │ ├── tokenizer.c │ │ └── util.c │ │ ├── Install.txt │ │ ├── LICENSE.txt │ │ ├── Makefile │ │ ├── graphs │ │ ├── 4elt.graph │ │ ├── README │ │ ├── copter2.graph │ │ ├── mdual.graph │ │ ├── metis.mesh │ │ └── test.mgraph │ │ ├── include │ │ ├── CMakeLists.txt │ │ └── metis.h │ │ ├── libmetis │ │ ├── CMakeLists.txt │ │ ├── auxapi.c │ │ ├── balance.c │ │ ├── bucketsort.c │ │ ├── checkgraph.c │ │ ├── coarsen.c │ │ ├── compress.c │ │ ├── contig.c │ │ ├── debug.c │ │ ├── defs.h │ │ ├── fm.c │ │ ├── fortran.c │ │ ├── frename.c │ │ ├── gklib.c │ │ ├── gklib_defs.h │ │ ├── gklib_rename.h │ │ ├── graph.c │ │ ├── initpart.c │ │ ├── kmetis.c │ │ ├── kwayfm.c │ │ ├── kwayrefine.c │ │ ├── macros.h │ │ ├── mcutil.c │ │ ├── mesh.c │ │ ├── meshpart.c │ │ ├── metislib.h │ │ ├── minconn.c │ │ ├── mincover.c │ │ ├── mmd.c │ │ ├── ometis.c │ │ ├── options.c │ │ ├── parmetis.c │ │ ├── pmetis.c │ │ ├── proto.h │ │ ├── refine.c │ │ ├── rename.h │ │ ├── separator.c │ │ ├── sfm.c │ │ ├── srefine.c │ │ ├── stat.c │ │ ├── stdheaders.h │ │ ├── struct.h │ │ ├── timing.c │ │ ├── util.c │ │ └── wspace.c │ │ ├── manual │ │ └── manual.pdf │ │ ├── metis.h │ │ ├── programs │ │ ├── CMakeLists.txt │ │ ├── cmdline_gpmetis.c │ │ ├── cmdline_m2gmetis.c │ │ ├── cmdline_mpmetis.c │ │ ├── cmdline_ndmetis.c │ │ ├── cmpfillin.c │ │ ├── defs.h │ │ ├── gpmetis.c │ │ ├── graphchk.c │ │ ├── io.c │ │ ├── m2gmetis.c │ │ ├── metisbin.h │ │ ├── mpmetis.c │ │ ├── ndmetis.c │ │ ├── proto.h │ │ ├── smbfactor.c │ │ ├── stat.c │ │ └── struct.h │ │ └── vsgen.bat ├── CMakeLists.txt ├── base │ ├── CMakeLists.txt │ ├── ConcurrentMap.h │ ├── DSFMap.h │ ├── DSFVector.cpp │ ├── DSFVector.h │ ├── FastDefaultAllocator.h │ ├── FastList.h │ ├── FastMap.h │ ├── FastSet.h │ ├── FastVector.h │ ├── GenericValue.h │ ├── Group.h │ ├── Lie.h │ ├── Manifold.h │ ├── Matrix.cpp │ ├── Matrix.h │ ├── MatrixLieGroup.h │ ├── MatrixSerialization.h │ ├── OptionalJacobian.h │ ├── ProductLieGroup.h │ ├── SymmetricBlockMatrix.cpp │ ├── SymmetricBlockMatrix.h │ ├── Testable.h │ ├── TestableAssertions.h │ ├── ThreadsafeException.h │ ├── Value.h │ ├── Vector.cpp │ ├── Vector.h │ ├── VectorSerialization.h │ ├── VectorSpace.h │ ├── VerticalBlockMatrix.cpp │ ├── VerticalBlockMatrix.h │ ├── WeightedSampler.h │ ├── base.i │ ├── base.md │ ├── chartTesting.h │ ├── cholesky.cpp │ ├── cholesky.h │ ├── concepts.h │ ├── debug.cpp │ ├── debug.h │ ├── doc │ │ ├── Group.md │ │ ├── LieGroup.md │ │ ├── Manifold.md │ │ ├── MatrixLieGroup.md │ │ └── VectorSpace.md │ ├── kruskal-inl.h │ ├── kruskal.h │ ├── lieProxies.h │ ├── make_shared.h │ ├── numericalDerivative.h │ ├── serialization.h │ ├── serializationTestHelpers.h │ ├── std_optional_serialization.h │ ├── testLie.h │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── testCholesky.cpp │ │ ├── testDSFMap.cpp │ │ ├── testDSFVector.cpp │ │ ├── testDebug.cpp │ │ ├── testFastContainers.cpp │ │ ├── testGroup.cpp │ │ ├── testKruskal.cpp │ │ ├── testMatrix.cpp │ │ ├── testNumericalDerivative.cpp │ │ ├── testOptionalJacobian.cpp │ │ ├── testSerializationBase.cpp │ │ ├── testStdOptionalSerialization.cpp │ │ ├── testSymmetricBlockMatrix.cpp │ │ ├── testTreeTraversal.cpp │ │ ├── testVector.cpp │ │ ├── testVerticalBlockMatrix.cpp │ │ └── testWeightedSampler.cpp │ ├── timing.cpp │ ├── timing.h │ ├── treeTraversal-inst.h │ ├── treeTraversal │ │ ├── parallelTraversalTasks.h │ │ └── statistics.h │ ├── types.cpp │ ├── types.h │ ├── utilities.cpp │ └── utilities.h ├── basis │ ├── Basis.cpp │ ├── Basis.h │ ├── BasisFactors.h │ ├── CMakeLists.txt │ ├── Chebyshev.cpp │ ├── Chebyshev.h │ ├── Chebyshev2.cpp │ ├── Chebyshev2.h │ ├── FitBasis.h │ ├── Fourier.h │ ├── basis.i │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBasisFactors.cpp │ │ ├── testChebyshev.cpp │ │ ├── testChebyshev2.cpp │ │ └── testFourier.cpp ├── config.h.in ├── constrained │ ├── AugmentedLagrangianOptimizer.cpp │ ├── AugmentedLagrangianOptimizer.h │ ├── CMakeLists.txt │ ├── ConstrainedOptProblem.cpp │ ├── ConstrainedOptProblem.h │ ├── ConstrainedOptimizer.h │ ├── InequalityPenaltyFunction.cpp │ ├── InequalityPenaltyFunction.h │ ├── NonlinearConstraint.h │ ├── NonlinearEqualityConstraint-inl.h │ ├── NonlinearEqualityConstraint.cpp │ ├── NonlinearEqualityConstraint.h │ ├── NonlinearInequalityConstraint.cpp │ ├── NonlinearInequalityConstraint.h │ ├── PenaltyOptimizer.cpp │ ├── PenaltyOptimizer.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── constrainedExample.h │ │ ├── testAugmentedLagrangianOptimizer.cpp │ │ ├── testInequalityPenaltyFunction.cpp │ │ ├── testNonlinearEqualityConstraint.cpp │ │ ├── testNonlinearInequalityConstraint.cpp │ │ └── testPenaltyOptimizer.cpp ├── discrete │ ├── AlgebraicDecisionTree.cpp │ ├── AlgebraicDecisionTree.h │ ├── Assignment.h │ ├── CMakeLists.txt │ ├── DecisionTree-inl.h │ ├── DecisionTree.h │ ├── DecisionTreeFactor.cpp │ ├── DecisionTreeFactor.h │ ├── DiscreteBayesNet.cpp │ ├── DiscreteBayesNet.h │ ├── DiscreteBayesTree.cpp │ ├── DiscreteBayesTree.h │ ├── DiscreteConditional.cpp │ ├── DiscreteConditional.h │ ├── DiscreteDistribution.cpp │ ├── DiscreteDistribution.h │ ├── DiscreteEliminationTree.cpp │ ├── DiscreteEliminationTree.h │ ├── DiscreteFactor.cpp │ ├── DiscreteFactor.h │ ├── DiscreteFactorGraph.cpp │ ├── DiscreteFactorGraph.h │ ├── DiscreteJunctionTree.cpp │ ├── DiscreteJunctionTree.h │ ├── DiscreteKey.cpp │ ├── DiscreteKey.h │ ├── DiscreteLookupDAG.cpp │ ├── DiscreteLookupDAG.h │ ├── DiscreteMarginals.cpp │ ├── DiscreteMarginals.h │ ├── DiscreteSearch.cpp │ ├── DiscreteSearch.h │ ├── DiscreteValues.cpp │ ├── DiscreteValues.h │ ├── Ring.h │ ├── Signature.cpp │ ├── Signature.h │ ├── SignatureParser.cpp │ ├── SignatureParser.h │ ├── TableDistribution.cpp │ ├── TableDistribution.h │ ├── TableFactor.cpp │ ├── TableFactor.h │ ├── discrete.i │ ├── discrete.md │ ├── doc │ │ ├── DecisionTreeFactor.ipynb │ │ ├── DiscreteBayesNet.ipynb │ │ ├── DiscreteConditional.ipynb │ │ ├── DiscreteDistribution.ipynb │ │ ├── DiscreteFactorGraph.ipynb │ │ └── Signature.ipynb │ └── tests │ │ ├── AsiaExample.h │ │ ├── CMakeLists.txt │ │ ├── data │ │ ├── FG │ │ │ └── alarm.fg │ │ └── UAI │ │ │ ├── sampleMARKOV.uai │ │ │ ├── sampleMARKOV.uai.evid │ │ │ ├── uai08_test1.uai │ │ │ ├── uai08_test1.uai.evid │ │ │ ├── uai08_test1.uai.output │ │ │ ├── uai08_test2.uai │ │ │ ├── uai08_test2.uai.evid │ │ │ ├── uai08_test2.uai.output │ │ │ ├── uai08_test3.uai │ │ │ ├── uai08_test3.uai.evid │ │ │ └── uai08_test3.uai.output │ │ ├── testAlgebraicDecisionTree.cpp │ │ ├── testDecisionTree.cpp │ │ ├── testDecisionTreeFactor.cpp │ │ ├── testDiscreteBayesNet.cpp │ │ ├── testDiscreteBayesTree.cpp │ │ ├── testDiscreteBayesTree.pdf │ │ ├── testDiscreteConditional.cpp │ │ ├── testDiscreteDistribution.cpp │ │ ├── testDiscreteFactor.cpp │ │ ├── testDiscreteFactorGraph.cpp │ │ ├── testDiscreteLookupDAG.cpp │ │ ├── testDiscreteMarginals.cpp │ │ ├── testDiscreteSearch.cpp │ │ ├── testDiscreteValues.cpp │ │ ├── testSerializationDiscrete.cpp │ │ ├── testSignature.cpp │ │ ├── testSignatureParser.cpp │ │ └── testTableFactor.cpp ├── geometry │ ├── BearingRange.h │ ├── CMakeLists.txt │ ├── Cal3.cpp │ ├── Cal3.h │ ├── Cal3Bundler.cpp │ ├── Cal3Bundler.h │ ├── Cal3DS2.cpp │ ├── Cal3DS2.h │ ├── Cal3DS2_Base.cpp │ ├── Cal3DS2_Base.h │ ├── Cal3Fisheye.cpp │ ├── Cal3Fisheye.h │ ├── Cal3Unified.cpp │ ├── Cal3Unified.h │ ├── Cal3_S2.cpp │ ├── Cal3_S2.h │ ├── Cal3_S2Stereo.cpp │ ├── Cal3_S2Stereo.h │ ├── Cal3f.cpp │ ├── Cal3f.h │ ├── CalibratedCamera.cpp │ ├── CalibratedCamera.h │ ├── CameraSet.h │ ├── Cyclic.cpp │ ├── Cyclic.h │ ├── EssentialMatrix.cpp │ ├── EssentialMatrix.h │ ├── Event.cpp │ ├── Event.h │ ├── FundamentalMatrix.cpp │ ├── FundamentalMatrix.h │ ├── Gal3.cpp │ ├── Gal3.h │ ├── Kernel.cpp │ ├── Kernel.h │ ├── Line3.cpp │ ├── Line3.h │ ├── OrientedPlane3.cpp │ ├── OrientedPlane3.h │ ├── PinholeCamera.h │ ├── PinholePose.h │ ├── PinholeSet.h │ ├── Point2.cpp │ ├── Point2.h │ ├── Point3.cpp │ ├── Point3.h │ ├── Pose2.cpp │ ├── Pose2.h │ ├── Pose3.cpp │ ├── Pose3.h │ ├── Quaternion.h │ ├── Rot2.cpp │ ├── Rot2.h │ ├── Rot3.cpp │ ├── Rot3.h │ ├── Rot3M.cpp │ ├── Rot3Q.cpp │ ├── SL4.cpp │ ├── SL4.h │ ├── SO3.cpp │ ├── SO3.h │ ├── SO4.cpp │ ├── SO4.h │ ├── SOn-inl.h │ ├── SOn.cpp │ ├── SOn.h │ ├── Similarity2.cpp │ ├── Similarity2.h │ ├── Similarity3.cpp │ ├── Similarity3.h │ ├── SimpleCamera.h │ ├── SphericalCamera.cpp │ ├── SphericalCamera.h │ ├── StereoCamera.cpp │ ├── StereoCamera.h │ ├── StereoPoint2.cpp │ ├── StereoPoint2.h │ ├── Unit3.cpp │ ├── Unit3.h │ ├── concepts.h │ ├── doc │ │ ├── Cal3_S2.ipynb │ │ ├── Cal3_S2Stereo.ipynb │ │ ├── Gal3.ipynb │ │ ├── Jacobians.md │ │ ├── Pose2.ipynb │ │ ├── Pose3.ipynb │ │ ├── Rot2.ipynb │ │ ├── Rot3.ipynb │ │ ├── SL4.ipynb │ │ ├── SO3.ipynb │ │ ├── Similarity2.ipynb │ │ ├── Similarity3.ipynb │ │ └── StereoCamera.ipynb │ ├── geometry.i │ ├── geometry.md │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingRange.cpp │ │ ├── testCal3Bundler.cpp │ │ ├── testCal3DFisheye.cpp │ │ ├── testCal3DS2.cpp │ │ ├── testCal3Unified.cpp │ │ ├── testCal3_S2.cpp │ │ ├── testCal3_S2Stereo.cpp │ │ ├── testCal3f.cpp │ │ ├── testCalibratedCamera.cpp │ │ ├── testCameraSet.cpp │ │ ├── testCyclic.cpp │ │ ├── testEssentialMatrix.cpp │ │ ├── testEvent.cpp │ │ ├── testFundamentalMatrix.cpp │ │ ├── testGal3.cpp │ │ ├── testLine3.cpp │ │ ├── testOrientedPlane3.cpp │ │ ├── testPinholeCamera.cpp │ │ ├── testPinholePose.cpp │ │ ├── testPinholeSet.cpp │ │ ├── testPoint2.cpp │ │ ├── testPoint3.cpp │ │ ├── testPose2.cpp │ │ ├── testPose3.cpp │ │ ├── testPoseAdjointMap.h │ │ ├── testQuaternion.cpp │ │ ├── testRot2.cpp │ │ ├── testRot3.cpp │ │ ├── testRot3M.cpp │ │ ├── testRot3Q.cpp │ │ ├── testSL4.cpp │ │ ├── testSO3.cpp │ │ ├── testSO4.cpp │ │ ├── testSOn.cpp │ │ ├── testSerializationGeometry.cpp │ │ ├── testSimilarity2.cpp │ │ ├── testSimilarity3.cpp │ │ ├── testSphericalCamera.cpp │ │ ├── testStereoCamera.cpp │ │ ├── testStereoPoint2.cpp │ │ ├── testTriangulation.cpp │ │ └── testUnit3.cpp │ ├── triangulation.cpp │ └── triangulation.h ├── global_includes.h ├── groups.dox ├── gtsam.i ├── hybrid │ ├── CMakeLists.txt │ ├── DCSAM.cpp │ ├── DCSAM.h │ ├── DiscreteBoundaryFactor.cpp │ ├── DiscreteBoundaryFactor.h │ ├── HybridBayesNet.cpp │ ├── HybridBayesNet.h │ ├── HybridBayesTree.cpp │ ├── HybridBayesTree.h │ ├── HybridConditional.cpp │ ├── HybridConditional.h │ ├── HybridEliminationTree.cpp │ ├── HybridEliminationTree.h │ ├── HybridFactor.cpp │ ├── HybridFactor.h │ ├── HybridFactorGraph.cpp │ ├── HybridFactorGraph.h │ ├── HybridGaussianConditional.cpp │ ├── HybridGaussianConditional.h │ ├── HybridGaussianFactor.cpp │ ├── HybridGaussianFactor.h │ ├── HybridGaussianFactorGraph.cpp │ ├── HybridGaussianFactorGraph.h │ ├── HybridGaussianISAM.cpp │ ├── HybridGaussianISAM.h │ ├── HybridGaussianProductFactor.cpp │ ├── HybridGaussianProductFactor.h │ ├── HybridJunctionTree.cpp │ ├── HybridJunctionTree.h │ ├── HybridNonlinearFactor.cpp │ ├── HybridNonlinearFactor.h │ ├── HybridNonlinearFactorGraph.cpp │ ├── HybridNonlinearFactorGraph.h │ ├── HybridNonlinearISAM.cpp │ ├── HybridNonlinearISAM.h │ ├── HybridSmoother.cpp │ ├── HybridSmoother.h │ ├── HybridValues.cpp │ ├── HybridValues.h │ ├── doc │ │ ├── HybridBayesNet.ipynb │ │ ├── HybridBayesTree.ipynb │ │ ├── HybridConditional.ipynb │ │ ├── HybridEliminationTree.ipynb │ │ ├── HybridFactor.ipynb │ │ ├── HybridFactorGraph.ipynb │ │ ├── HybridGaussianConditional.ipynb │ │ ├── HybridGaussianFactor.ipynb │ │ ├── HybridGaussianFactorGraph.ipynb │ │ ├── HybridGaussianISAM.ipynb │ │ ├── HybridGaussianProductFactor.ipynb │ │ ├── HybridJunctionTree.ipynb │ │ ├── HybridNonlinearFactor.ipynb │ │ ├── HybridNonlinearFactorGraph.ipynb │ │ ├── HybridNonlinearISAM.ipynb │ │ ├── HybridSmoother.ipynb │ │ └── HybridValues.ipynb │ ├── hybrid.i │ ├── hybrid.md │ └── tests │ │ ├── CMakeLists.txt │ │ ├── DiscreteFixture.h │ │ ├── Switching.h │ │ ├── TinyHybridExample.h │ │ ├── testDCSAM.cpp │ │ ├── testGaussianMixture.cpp │ │ ├── testHybridBayesNet.cpp │ │ ├── testHybridBayesTree.cpp │ │ ├── testHybridConditional.cpp │ │ ├── testHybridEstimation.cpp │ │ ├── testHybridFactorGraph.cpp │ │ ├── testHybridGaussianConditional.cpp │ │ ├── testHybridGaussianFactor.cpp │ │ ├── testHybridGaussianFactorGraph.cpp │ │ ├── testHybridGaussianISAM.cpp │ │ ├── testHybridGaussianProductFactor.cpp │ │ ├── testHybridMotionModel.cpp │ │ ├── testHybridNonlinearFactor.cpp │ │ ├── testHybridNonlinearFactorGraph.cpp │ │ ├── testHybridNonlinearISAM.cpp │ │ ├── testHybridSmoother.cpp │ │ ├── testHybridValues.cpp │ │ └── testSerializationHybrid.cpp ├── inference │ ├── BayesNet-inst.h │ ├── BayesNet.h │ ├── BayesTree-inst.h │ ├── BayesTree.cpp │ ├── BayesTree.h │ ├── BayesTreeCliqueBase-inst.h │ ├── BayesTreeCliqueBase.h │ ├── CMakeLists.txt │ ├── ClusterTree-inst.h │ ├── ClusterTree.h │ ├── Conditional-inst.h │ ├── Conditional.h │ ├── DotWriter.cpp │ ├── DotWriter.h │ ├── EdgeKey.cpp │ ├── EdgeKey.h │ ├── EliminateableFactorGraph-inst.h │ ├── EliminateableFactorGraph.h │ ├── EliminationTree-inst.h │ ├── EliminationTree.h │ ├── Factor.cpp │ ├── Factor.h │ ├── FactorGraph-inst.h │ ├── FactorGraph.h │ ├── ISAM-inst.h │ ├── ISAM.h │ ├── JunctionTree-inst.h │ ├── JunctionTree.h │ ├── Key.cpp │ ├── Key.h │ ├── LabeledSymbol.cpp │ ├── LabeledSymbol.h │ ├── MetisIndex-inl.h │ ├── MetisIndex.h │ ├── Ordering.cpp │ ├── Ordering.h │ ├── Symbol.cpp │ ├── Symbol.h │ ├── VariableIndex-inl.h │ ├── VariableIndex.cpp │ ├── VariableIndex.h │ ├── VariableSlots.cpp │ ├── VariableSlots.h │ ├── doc │ │ ├── BayesNet.ipynb │ │ ├── BayesTree.ipynb │ │ ├── ClusterTree.ipynb │ │ ├── Conditional.ipynb │ │ ├── DotWriter.ipynb │ │ ├── EdgeKey.ipynb │ │ ├── EliminationTree.ipynb │ │ ├── Factor.ipynb │ │ ├── FactorGraph.ipynb │ │ ├── ISAM.ipynb │ │ ├── JunctionTree.ipynb │ │ ├── Key.ipynb │ │ ├── LabeledSymbol.ipynb │ │ ├── Ordering.ipynb │ │ ├── Shortcuts.ipynb │ │ ├── Symbol.ipynb │ │ └── VariableIndex.ipynb │ ├── graph-inl.h │ ├── graph.h │ ├── inference-inst.h │ ├── inference.i │ ├── inference.md │ ├── inferenceExceptions.cpp │ ├── inferenceExceptions.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testEdgeKey.cpp │ │ ├── testKey.cpp │ │ ├── testLabeledSymbol.cpp │ │ ├── testOrdering.cpp │ │ ├── testSymbol.cpp │ │ └── testVariableSlots.cpp ├── linear │ ├── AcceleratedPowerMethod.h │ ├── BinaryJacobianFactor.h │ ├── CMakeLists.txt │ ├── ConjugateGradientSolver.cpp │ ├── ConjugateGradientSolver.h │ ├── Errors.cpp │ ├── Errors.h │ ├── GaussianBayesNet.cpp │ ├── GaussianBayesNet.h │ ├── GaussianBayesTree-inl.h │ ├── GaussianBayesTree.cpp │ ├── GaussianBayesTree.h │ ├── GaussianConditional-inl.h │ ├── GaussianConditional.cpp │ ├── GaussianConditional.h │ ├── GaussianDensity.cpp │ ├── GaussianDensity.h │ ├── GaussianEliminationTree.cpp │ ├── GaussianEliminationTree.h │ ├── GaussianFactor.cpp │ ├── GaussianFactor.h │ ├── GaussianFactorGraph.cpp │ ├── GaussianFactorGraph.h │ ├── GaussianISAM.cpp │ ├── GaussianISAM.h │ ├── GaussianJunctionTree.cpp │ ├── GaussianJunctionTree.h │ ├── HessianFactor-inl.h │ ├── HessianFactor.cpp │ ├── HessianFactor.h │ ├── IterativeSolver.cpp │ ├── IterativeSolver.h │ ├── JacobianFactor-inl.h │ ├── JacobianFactor.cpp │ ├── JacobianFactor.h │ ├── KalmanFilter.cpp │ ├── KalmanFilter.h │ ├── LossFunctions.cpp │ ├── LossFunctions.h │ ├── NoiseModel.cpp │ ├── NoiseModel.h │ ├── PCGSolver.cpp │ ├── PCGSolver.h │ ├── PowerMethod.h │ ├── Preconditioner.cpp │ ├── Preconditioner.h │ ├── RegularHessianFactor.h │ ├── RegularJacobianFactor.h │ ├── Sampler.cpp │ ├── Sampler.h │ ├── Scatter.cpp │ ├── Scatter.h │ ├── SparseEigen.h │ ├── SubgraphBuilder.cpp │ ├── SubgraphBuilder.h │ ├── SubgraphPreconditioner.cpp │ ├── SubgraphPreconditioner.h │ ├── SubgraphSolver.cpp │ ├── SubgraphSolver.h │ ├── VectorValues.cpp │ ├── VectorValues.h │ ├── iterative-inl.h │ ├── iterative.cpp │ ├── iterative.h │ ├── linear.i │ ├── linearAlgorithms-inst.h │ ├── linearExceptions.cpp │ ├── linearExceptions.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── powerMethodExample.h │ │ ├── testAcceleratedPowerMethod.cpp │ │ ├── testErrors.cpp │ │ ├── testGaussianBayesNet.cpp │ │ ├── testGaussianBayesTree.cpp │ │ ├── testGaussianConditional.cpp │ │ ├── testGaussianDensity.cpp │ │ ├── testGaussianFactorGraph.cpp │ │ ├── testHessianFactor.cpp │ │ ├── testJacobianFactor.cpp │ │ ├── testKalmanFilter.cpp │ │ ├── testNoiseModel.cpp │ │ ├── testPowerMethod.cpp │ │ ├── testRegularHessianFactor.cpp │ │ ├── testRegularJacobianFactor.cpp │ │ ├── testSampler.cpp │ │ ├── testScatter.cpp │ │ ├── testSerializationLinear.cpp │ │ ├── testSparseEigen.cpp │ │ └── testVectorValues.cpp ├── mainpage.dox ├── navigation │ ├── .gitignore │ ├── AHRSFactor.cpp │ ├── AHRSFactor.h │ ├── AttitudeFactor.cpp │ ├── AttitudeFactor.h │ ├── AttitudeFactor.md │ ├── BarometricFactor.cpp │ ├── BarometricFactor.h │ ├── CMakeLists.txt │ ├── CombinedImuFactor.cpp │ ├── CombinedImuFactor.h │ ├── ConstantVelocityFactor.h │ ├── GPSFactor.cpp │ ├── GPSFactor.h │ ├── Gal3ImuEKF.cpp │ ├── Gal3ImuEKF.h │ ├── ImuBias.cpp │ ├── ImuBias.h │ ├── ImuFactor.cpp │ ├── ImuFactor.h │ ├── InvariantEKF.h │ ├── LeftLinearEKF.h │ ├── LieGroupEKF.h │ ├── MagFactor.h │ ├── MagPoseFactor.h │ ├── ManifoldEKF.h │ ├── ManifoldPreintegration.cpp │ ├── ManifoldPreintegration.h │ ├── NavState.cpp │ ├── NavState.h │ ├── NavStateImuEKF.cpp │ ├── NavStateImuEKF.h │ ├── PreintegratedRotation.cpp │ ├── PreintegratedRotation.h │ ├── PreintegrationBase.cpp │ ├── PreintegrationBase.h │ ├── PreintegrationCombinedParams.h │ ├── PreintegrationParams.cpp │ ├── PreintegrationParams.h │ ├── README.md │ ├── Scenario.cpp │ ├── Scenario.h │ ├── ScenarioRunner.cpp │ ├── ScenarioRunner.h │ ├── TangentPreintegration.cpp │ ├── TangentPreintegration.h │ ├── doc │ │ ├── AHRSFactor.ipynb │ │ ├── AttitudeFactor.ipynb │ │ ├── BarometricFactor.ipynb │ │ ├── CombinedImuFactor.ipynb │ │ ├── Combined_vs_ImuFactor.ipynb │ │ ├── ConstantVelocityFactor.ipynb │ │ ├── EKF-variants.md │ │ ├── GPSFactor.ipynb │ │ ├── Gal3ImuEKF.ipynb │ │ ├── ImuFactor.ipynb │ │ ├── InvariantEKF.ipynb │ │ ├── MagFactor.ipynb │ │ ├── MagPoseFactor.ipynb │ │ ├── NavStateImuEKF.ipynb │ │ ├── PreintegratedCombinedMeasurements.ipynb │ │ ├── PreintegratedImuMeasurements.ipynb │ │ ├── PreintegratedRotation.ipynb │ │ ├── PreintegrationCombinedParams.ipynb │ │ ├── PreintegrationParams.ipynb │ │ ├── Scenario.ipynb │ │ └── ScenarioRunner.ipynb │ ├── expressions.h │ ├── navigation.i │ ├── navigation.md │ └── tests │ │ ├── CMakeLists.txt │ │ ├── imuFactorTesting.h │ │ ├── testAHRSFactor.cpp │ │ ├── testAttitudeFactor.cpp │ │ ├── testBarometricFactor.cpp │ │ ├── testCentripetal.cpp │ │ ├── testCombinedImuFactor.cpp │ │ ├── testConstantVelocityFactor.cpp │ │ ├── testGPSFactor.cpp │ │ ├── testGal3ImuEKF.cpp │ │ ├── testGeographicLib.cpp │ │ ├── testImuBias.cpp │ │ ├── testImuFactor.cpp │ │ ├── testInvariantEKF.cpp │ │ ├── testLeftLinearEKF.cpp │ │ ├── testLieGroupEKF.cpp │ │ ├── testMagFactor.cpp │ │ ├── testMagPoseFactor.cpp │ │ ├── testManifoldEKF.cpp │ │ ├── testManifoldPreintegration.cpp │ │ ├── testNavExpressions.cpp │ │ ├── testNavState.cpp │ │ ├── testNavStateImuEKF.cpp │ │ ├── testPoseVelocityBias.cpp │ │ ├── testPreintegratedRotation.cpp │ │ ├── testScenario.cpp │ │ ├── testScenarioRunner.cpp │ │ ├── testSerializationNavigation.cpp │ │ └── testTangentPreintegration.cpp ├── nonlinear │ ├── AdaptAutoDiff.h │ ├── BatchFixedLagSmoother.cpp │ ├── BatchFixedLagSmoother.h │ ├── BayesTreeMarginalizationHelper.h │ ├── CMakeLists.txt │ ├── ConcentratedGaussian.h │ ├── CustomFactor.cpp │ ├── CustomFactor.h │ ├── DoglegOptimizer.cpp │ ├── DoglegOptimizer.h │ ├── DoglegOptimizerImpl.cpp │ ├── DoglegOptimizerImpl.h │ ├── Expression-inl.h │ ├── Expression.h │ ├── ExpressionFactor.h │ ├── ExpressionFactorGraph.h │ ├── ExtendedKalmanFilter-inl.h │ ├── ExtendedKalmanFilter.h │ ├── ExtendedPriorFactor.h │ ├── FixedLagSmoother.cpp │ ├── FixedLagSmoother.h │ ├── FunctorizedFactor.h │ ├── GaussNewtonOptimizer.cpp │ ├── GaussNewtonOptimizer.h │ ├── GncOptimizer.h │ ├── GncParams.h │ ├── GraphvizFormatting.cpp │ ├── GraphvizFormatting.h │ ├── ISAM2-impl.cpp │ ├── ISAM2-impl.h │ ├── ISAM2.cpp │ ├── ISAM2.h │ ├── ISAM2Clique.cpp │ ├── ISAM2Clique.h │ ├── ISAM2Params.cpp │ ├── ISAM2Params.h │ ├── ISAM2Result.h │ ├── ISAM2UpdateParams.h │ ├── IncrementalFixedLagSmoother.cpp │ ├── IncrementalFixedLagSmoother.h │ ├── LevenbergMarquardtOptimizer.cpp │ ├── LevenbergMarquardtOptimizer.h │ ├── LevenbergMarquardtParams.cpp │ ├── LevenbergMarquardtParams.h │ ├── LinearContainerFactor.cpp │ ├── LinearContainerFactor.h │ ├── Marginals.cpp │ ├── Marginals.h │ ├── NoiseModelFactorN.h │ ├── NonlinearConjugateGradientOptimizer.cpp │ ├── NonlinearConjugateGradientOptimizer.h │ ├── NonlinearEquality.h │ ├── NonlinearFactor.cpp │ ├── NonlinearFactor.h │ ├── NonlinearFactorGraph.cpp │ ├── NonlinearFactorGraph.h │ ├── NonlinearISAM.cpp │ ├── NonlinearISAM.h │ ├── NonlinearOptimizer.cpp │ ├── NonlinearOptimizer.h │ ├── NonlinearOptimizerParams.cpp │ ├── NonlinearOptimizerParams.h │ ├── PriorFactor.h │ ├── Symbol.h │ ├── Values-inl.h │ ├── Values.cpp │ ├── Values.h │ ├── WhiteNoiseFactor.h │ ├── custom.i │ ├── doc │ │ ├── BatchFixedLagSmoother.ipynb │ │ ├── ConcentratedGaussian.ipynb │ │ ├── CustomFactor.ipynb │ │ ├── DoglegOptimizer.ipynb │ │ ├── ExpressionFactor.ipynb │ │ ├── ExpressionFactorGraph.ipynb │ │ ├── ExtendedKalmanFilter.ipynb │ │ ├── ExtendedPriorFactor.ipynb │ │ ├── FixedLagSmoother.ipynb │ │ ├── GaussNewtonOptimizer.ipynb │ │ ├── GncOptimizer.ipynb │ │ ├── ISAM2.ipynb │ │ ├── IncrementalFixedLagSmoother.ipynb │ │ ├── LevenbergMarquardtOptimizer.ipynb │ │ ├── LinearContainerFactor.ipynb │ │ ├── NonlinearConjugateGradientOptimizer.ipynb │ │ ├── NonlinearEquality.ipynb │ │ ├── NonlinearFactor.ipynb │ │ ├── NonlinearFactorGraph.ipynb │ │ ├── NonlinearISAM.ipynb │ │ ├── NonlinearOptimizer.ipynb │ │ ├── PriorFactor.ipynb │ │ └── WhiteNoiseFactor.ipynb │ ├── expressionTesting.h │ ├── expressions.h │ ├── factorTesting.h │ ├── internal │ │ ├── CallRecord.h │ │ ├── ChiSquaredInverse.h │ │ ├── ExecutionTrace.h │ │ ├── ExpressionNode.h │ │ ├── JacobianMap.h │ │ ├── LevenbergMarquardtState.h │ │ └── NonlinearOptimizerState.h │ ├── nonlinear.i │ ├── nonlinear.md │ ├── nonlinearExceptions.h │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── priorFactor.xml │ │ ├── testAdaptAutoDiff.cpp │ │ ├── testBatchFixedLagSmoother.cpp │ │ ├── testCallRecord.cpp │ │ ├── testConcentratedGaussian.cpp │ │ ├── testExecutionTrace.cpp │ │ ├── testExpression.cpp │ │ ├── testExtendedPriorFactor.cpp │ │ ├── testFactorTesting.cpp │ │ ├── testFunctorizedFactor.cpp │ │ ├── testIncrementalFixedLagSmoother.cpp │ │ ├── testLinearContainerFactor.cpp │ │ ├── testNonlinearConjugateGradientOptimizer.cpp │ │ ├── testSerializationNonlinear.cpp │ │ ├── testUtilities.cpp │ │ ├── testValues.cpp │ │ └── testWhiteNoiseFactor.cpp │ ├── utilities.h │ └── values.i ├── precompiled_header.cpp ├── precompiled_header.h ├── sam │ ├── BearingFactor.h │ ├── BearingRangeFactor.h │ ├── CMakeLists.txt │ ├── RangeFactor.h │ ├── sam.i │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingFactor.cpp │ │ ├── testBearingRangeFactor.cpp │ │ ├── testRangeFactor.cpp │ │ └── testSerializationSam.cpp ├── sfm │ ├── BinaryMeasurement.h │ ├── CMakeLists.txt │ ├── DsfTrackGenerator.cpp │ ├── DsfTrackGenerator.h │ ├── MFAS.cpp │ ├── MFAS.h │ ├── SfmData.cpp │ ├── SfmData.h │ ├── SfmTrack.cpp │ ├── SfmTrack.h │ ├── ShonanAveraging.cpp │ ├── ShonanAveraging.h │ ├── ShonanFactor.cpp │ ├── ShonanFactor.h │ ├── ShonanGaugeFactor.h │ ├── TransferFactor.h │ ├── TranslationFactor.h │ ├── TranslationRecovery.cpp │ ├── TranslationRecovery.h │ ├── sfm.i │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBinaryMeasurement.cpp │ │ ├── testMFAS.cpp │ │ ├── testSfmData.cpp │ │ ├── testSfmTrack.cpp │ │ ├── testShonanAveraging.cpp │ │ ├── testShonanFactor.cpp │ │ ├── testShonanGaugeFactor.cpp │ │ ├── testTransferFactor.cpp │ │ └── testTranslationFactor.cpp ├── slam │ ├── AntiFactor.h │ ├── BearingFactor.h │ ├── BearingRangeFactor.h │ ├── BetweenFactor.h │ ├── BoundingConstraint.h │ ├── CMakeLists.txt │ ├── EssentialMatrixConstraint.cpp │ ├── EssentialMatrixConstraint.h │ ├── EssentialMatrixFactor.h │ ├── FrobeniusFactor.cpp │ ├── FrobeniusFactor.h │ ├── GeneralSFMFactor.h │ ├── InitializePose.h │ ├── InitializePose3.cpp │ ├── InitializePose3.h │ ├── JacobianFactorQ.h │ ├── JacobianFactorQR.h │ ├── JacobianFactorSVD.h │ ├── KarcherMeanFactor-inl.h │ ├── KarcherMeanFactor.h │ ├── OrientedPlane3Factor.cpp │ ├── OrientedPlane3Factor.h │ ├── PlanarProjectionFactor.h │ ├── PoseRotationPrior.h │ ├── PoseTranslationPrior.h │ ├── PriorFactor.h │ ├── ProjectionFactor.h │ ├── README.md │ ├── RangeFactor.h │ ├── ReferenceFrameFactor.h │ ├── RegularImplicitSchurFactor.h │ ├── RotateFactor.h │ ├── SmartFactorBase.h │ ├── SmartFactorParams.h │ ├── SmartProjectionFactor.h │ ├── SmartProjectionPoseFactor.h │ ├── SmartProjectionRigFactor.h │ ├── StereoFactor.h │ ├── TriangulationFactor.h │ ├── dataset.cpp │ ├── dataset.h │ ├── doc │ │ ├── BetweenFactor.ipynb │ │ ├── EssentialMatrixConstraint.ipynb │ │ ├── EssentialMatrixFactor.ipynb │ │ ├── FrobeniusFactor.ipynb │ │ ├── GeneralSFMFactor.ipynb │ │ ├── InitializePose3.ipynb │ │ ├── KarcherMeanFactor.ipynb │ │ ├── OrientedPlane3Factor.ipynb │ │ ├── PlanarProjectionFactor.ipynb │ │ ├── PoseRotationPrior.ipynb │ │ ├── PoseTranslationPrior.ipynb │ │ ├── ProjectionFactor.ipynb │ │ ├── ReferenceFrameFactor.ipynb │ │ ├── RotateFactor.ipynb │ │ ├── SmartFactors.md │ │ ├── SmartProjectionFactor.ipynb │ │ ├── SmartProjectionParams.ipynb │ │ ├── SmartProjectionPoseFactor.ipynb │ │ ├── SmartProjectionRigFactor.ipynb │ │ ├── StereoFactor.ipynb │ │ ├── TriangulationFactor.ipynb │ │ ├── dataset.ipynb │ │ └── lago.ipynb │ ├── expressions.h │ ├── lago.cpp │ ├── lago.h │ ├── slam.i │ ├── slam.md │ └── tests │ │ ├── CMakeLists.txt │ │ ├── PinholeFactor.h │ │ ├── smartFactorScenarios.h │ │ ├── testAntiFactor.cpp │ │ ├── testBetweenFactor.cpp │ │ ├── testDataset.cpp │ │ ├── testEssentialMatrixConstraint.cpp │ │ ├── testEssentialMatrixFactor.cpp │ │ ├── testFrobeniusFactor.cpp │ │ ├── testGeneralSFMFactor.cpp │ │ ├── testGeneralSFMFactor_Cal3Bundler.cpp │ │ ├── testInitializePose.cpp │ │ ├── testInitializePose3.cpp │ │ ├── testKarcherMeanFactor.cpp │ │ ├── testLago.cpp │ │ ├── testOrientedPlane3Factor.cpp │ │ ├── testPlanarProjectionFactor.cpp │ │ ├── testPoseRotationPrior.cpp │ │ ├── testPoseTranslationPrior.cpp │ │ ├── testPriorFactor.cpp │ │ ├── testProjectionFactor.cpp │ │ ├── testReferenceFrameFactor.cpp │ │ ├── testRegularImplicitSchurFactor.cpp │ │ ├── testRotateFactor.cpp │ │ ├── testSerializationDataset.cpp │ │ ├── testSerializationInSlam.cpp │ │ ├── testSlamExpressions.cpp │ │ ├── testSmartFactorBase.cpp │ │ ├── testSmartProjectionFactor.cpp │ │ ├── testSmartProjectionPoseFactor.cpp │ │ ├── testSmartProjectionRigFactor.cpp │ │ ├── testStereoFactor.cpp │ │ └── testTriangulationFactor.cpp └── symbolic │ ├── CMakeLists.txt │ ├── SymbolicBayesNet.cpp │ ├── SymbolicBayesNet.h │ ├── SymbolicBayesTree.cpp │ ├── SymbolicBayesTree.h │ ├── SymbolicConditional.cpp │ ├── SymbolicConditional.h │ ├── SymbolicEliminationTree.cpp │ ├── SymbolicEliminationTree.h │ ├── SymbolicFactor-inst.h │ ├── SymbolicFactor.cpp │ ├── SymbolicFactor.h │ ├── SymbolicFactorGraph.cpp │ ├── SymbolicFactorGraph.h │ ├── SymbolicISAM.cpp │ ├── SymbolicISAM.h │ ├── SymbolicJunctionTree.cpp │ ├── SymbolicJunctionTree.h │ ├── doc │ ├── SymbolicBayesNet.ipynb │ ├── SymbolicBayesTree.ipynb │ ├── SymbolicBayesTreeClique.ipynb │ ├── SymbolicConditional.ipynb │ ├── SymbolicEliminationTree.ipynb │ ├── SymbolicFactor.ipynb │ ├── SymbolicFactorGraph.ipynb │ └── SymbolicJunctionTree.ipynb │ ├── symbolic.i │ ├── symbolic.md │ └── tests │ ├── CMakeLists.txt │ ├── symbolicExampleGraphs.h │ ├── testSerializationSymbolic.cpp │ ├── testSymbolicBayesNet.cpp │ ├── testSymbolicBayesTree.cpp │ ├── testSymbolicConditional.cpp │ ├── testSymbolicEliminationTree.cpp │ ├── testSymbolicFactor.cpp │ ├── testSymbolicFactorGraph.cpp │ ├── testSymbolicISAM.cpp │ ├── testSymbolicJunctionTree.cpp │ └── testVariableIndex.cpp ├── gtsam_extra.cmake.in ├── gtsam_unstable ├── CMakeLists.txt ├── base │ ├── BTree.h │ ├── CMakeLists.txt │ ├── DSF.h │ ├── Dummy.cpp │ ├── Dummy.h │ ├── FixedVector.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBTree.cpp │ │ ├── testDSF.cpp │ │ └── testFixedVector.cpp ├── discrete │ ├── AllDiff.cpp │ ├── AllDiff.h │ ├── BinaryAllDiff.h │ ├── CMakeLists.txt │ ├── CSP.cpp │ ├── CSP.h │ ├── Constraint.h │ ├── Domain.cpp │ ├── Domain.h │ ├── Scheduler.cpp │ ├── Scheduler.h │ ├── SingleValue.cpp │ ├── SingleValue.h │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── Doodle.csv │ │ ├── Doodle.xls │ │ ├── Doodle2012.csv │ │ ├── Doodle2012.xls │ │ ├── Doodle2013.csv │ │ ├── Doodle2013.xls │ │ ├── intrusive.xlsx │ │ ├── schedulingExample.cpp │ │ ├── schedulingQuals12.cpp │ │ ├── schedulingQuals13.cpp │ │ └── small.csv │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testCSP.cpp │ │ ├── testLoopyBelief.cpp │ │ ├── testScheduler.cpp │ │ └── testSudoku.cpp ├── dynamics │ ├── CMakeLists.txt │ ├── DynamicsPriors.h │ ├── FullIMUFactor.h │ ├── IMUFactor.h │ ├── Pendulum.h │ ├── PoseRTV.cpp │ ├── PoseRTV.h │ ├── SimpleHelicopter.cpp │ ├── SimpleHelicopter.h │ ├── VelocityConstraint.h │ ├── VelocityConstraint3.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testIMUSystem.cpp │ │ ├── testPendulumFactors.cpp │ │ ├── testPoseRTV.cpp │ │ ├── testSimpleHelicopter.cpp │ │ ├── testVelocityConstraint.cpp │ │ └── testVelocityConstraint3.cpp ├── examples │ ├── CMakeLists.txt │ ├── ConcurrentCalibration.cpp │ ├── ConcurrentFilteringAndSmoothingExample.cpp │ ├── GncPoseAveragingExample.cpp │ ├── ISAM2_SmartFactorStereo_IMU.cpp │ ├── README.md │ ├── SmartProjectionFactorExample.cpp │ ├── SmartRangeExample_plaza1.cpp │ ├── SmartRangeExample_plaza2.cpp │ ├── SmartStereoProjectionFactorExample.cpp │ ├── TimeOfArrivalExample.cpp │ └── plotRangeResults.p ├── geometry │ ├── BearingS2.cpp │ ├── BearingS2.h │ ├── CMakeLists.txt │ ├── InvDepthCamera3.h │ ├── Pose3Upright.cpp │ ├── Pose3Upright.h │ ├── SimPolygon2D.cpp │ ├── SimPolygon2D.h │ ├── SimWall2D.cpp │ ├── SimWall2D.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingS2.cpp │ │ ├── testInvDepthCamera3.cpp │ │ ├── testPose3Upright.cpp │ │ ├── testSimPolygon2D.cpp │ │ └── testSimWall2D.cpp ├── gtsam_unstable.i ├── linear │ ├── ActiveSetSolver-inl.h │ ├── ActiveSetSolver.h │ ├── CMakeLists.txt │ ├── EqualityFactorGraph.h │ ├── InequalityFactorGraph.h │ ├── InfeasibleInitialValues.h │ ├── InfeasibleOrUnboundedProblem.h │ ├── LP.h │ ├── LPInitSolver.cpp │ ├── LPInitSolver.h │ ├── LPSolver.cpp │ ├── LPSolver.h │ ├── LinearCost.h │ ├── LinearEquality.h │ ├── LinearInequality.h │ ├── QP.h │ ├── QPInitSolver.h │ ├── QPSParser.cpp │ ├── QPSParser.h │ ├── QPSParserException.h │ ├── QPSolver.cpp │ ├── QPSolver.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testLPSolver.cpp │ │ ├── testLinearEquality.cpp │ │ └── testQPSolver.cpp ├── mainpage.dox ├── nonlinear │ ├── BatchFixedLagSmoother.h │ ├── BayesTreeMarginalizationHelper.h │ ├── CMakeLists.txt │ ├── ConcurrentBatchFilter.cpp │ ├── ConcurrentBatchFilter.h │ ├── ConcurrentBatchSmoother.cpp │ ├── ConcurrentBatchSmoother.h │ ├── ConcurrentFilteringAndSmoothing.cpp │ ├── ConcurrentFilteringAndSmoothing.h │ ├── ConcurrentIncrementalFilter.cpp │ ├── ConcurrentIncrementalFilter.h │ ├── ConcurrentIncrementalSmoother.cpp │ ├── ConcurrentIncrementalSmoother.h │ ├── FixedLagSmoother.h │ ├── IncrementalFixedLagSmoother.h │ ├── LinearizedFactor.cpp │ ├── LinearizedFactor.h │ ├── NonlinearClusterTree.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testConcurrentBatchFilter.cpp │ │ ├── testConcurrentBatchSmoother.cpp │ │ ├── testConcurrentIncrementalFilter.cpp │ │ ├── testConcurrentIncrementalSmootherDL.cpp │ │ ├── testConcurrentIncrementalSmootherGN.cpp │ │ ├── testCustomChartExpression.cpp │ │ ├── testLinearizedFactor.cpp │ │ ├── testNonlinearClusterTree.cpp │ │ └── testParticleFactor.cpp ├── partition │ ├── CMakeLists.txt │ ├── FindSeparator-inl.h │ ├── FindSeparator.h │ ├── GenericGraph.cpp │ ├── GenericGraph.h │ ├── NestedDissection-inl.h │ ├── NestedDissection.h │ ├── PartitionWorkSpace.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testFindSeparator.cpp │ │ ├── testGenericGraph.cpp │ │ └── testNestedDissection.cpp ├── slam │ ├── AHRS.cpp │ ├── AHRS.h │ ├── BetweenFactorEM.h │ ├── BiasedGPSFactor.h │ ├── CMakeLists.txt │ ├── DummyFactor.cpp │ ├── DummyFactor.h │ ├── EquivInertialNavFactor_GlobalVel.h │ ├── EquivInertialNavFactor_GlobalVel_NoBias.h │ ├── GaussMarkov1stOrderFactor.h │ ├── InertialNavFactor_GlobalVelocity.h │ ├── InvDepthFactor3.h │ ├── InvDepthFactorVariant1.h │ ├── InvDepthFactorVariant2.h │ ├── InvDepthFactorVariant3.h │ ├── LocalOrientedPlane3Factor.cpp │ ├── LocalOrientedPlane3Factor.h │ ├── Mechanization_bRn2.cpp │ ├── Mechanization_bRn2.h │ ├── MultiProjectionFactor.h │ ├── PartialPriorFactor.h │ ├── PoseBetweenFactor.h │ ├── PosePriorFactor.h │ ├── PoseToPointFactor.h │ ├── ProjectionFactorPPP.h │ ├── ProjectionFactorPPPC.h │ ├── ProjectionFactorRollingShutter.cpp │ ├── ProjectionFactorRollingShutter.h │ ├── README.md │ ├── RelativeElevationFactor.cpp │ ├── RelativeElevationFactor.h │ ├── SmartProjectionPoseFactorRollingShutter.h │ ├── SmartRangeFactor.h │ ├── SmartStereoProjectionFactor.h │ ├── SmartStereoProjectionFactorPP.cpp │ ├── SmartStereoProjectionFactorPP.h │ ├── SmartStereoProjectionPoseFactor.cpp │ ├── SmartStereoProjectionPoseFactor.h │ ├── TOAFactor.h │ ├── TSAMFactors.h │ ├── TransformBtwRobotsUnaryFactor.h │ ├── TransformBtwRobotsUnaryFactorEM.h │ ├── doc │ │ └── ypr.nb │ ├── serialization.cpp │ ├── serialization.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testAHRS.cpp │ │ ├── testBetweenFactorEM.cpp │ │ ├── testBiasedGPSFactor.cpp │ │ ├── testDummyFactor.cpp │ │ ├── testEquivInertialNavFactor_GlobalVel.cpp │ │ ├── testGaussMarkov1stOrderFactor.cpp │ │ ├── testInertialNavFactor_GlobalVelocity.cpp │ │ ├── testInvDepthFactor3.cpp │ │ ├── testInvDepthFactorVariant1.cpp │ │ ├── testInvDepthFactorVariant2.cpp │ │ ├── testInvDepthFactorVariant3.cpp │ │ ├── testLocalOrientedPlane3Factor.cpp │ │ ├── testMultiProjectionFactor.cpp │ │ ├── testOccupancyGrid.cpp │ │ ├── testPartialPriorFactor.cpp │ │ ├── testPoseBetweenFactor.cpp │ │ ├── testPosePriorFactor.cpp │ │ ├── testPoseToPointFactor.cpp │ │ ├── testProjectionFactorPPP.cpp │ │ ├── testProjectionFactorPPPC.cpp │ │ ├── testProjectionFactorRollingShutter.cpp │ │ ├── testRelativeElevationFactor.cpp │ │ ├── testSerialization.cpp │ │ ├── testSmartProjectionPoseFactorRollingShutter.cpp │ │ ├── testSmartRangeFactor.cpp │ │ ├── testSmartStereoFactor_iSAM2.cpp │ │ ├── testSmartStereoProjectionFactorPP.cpp │ │ ├── testSmartStereoProjectionPoseFactor.cpp │ │ ├── testTOAFactor.cpp │ │ ├── testTSAMFactors.cpp │ │ ├── testTransformBtwRobotsUnaryFactor.cpp │ │ └── testTransformBtwRobotsUnaryFactorEM.cpp ├── testing_tools │ ├── base │ │ ├── cholChainTest.m │ │ ├── cholScalingTest.m │ │ └── choleskyNaive.m │ └── inference │ │ ├── eliminate.m │ │ ├── jointMarginalsTestProblems.m │ │ └── shortcut.m └── timing │ ├── CMakeLists.txt │ ├── process_shonan_timing_results.py │ ├── timeDSFvariants.cpp │ ├── timeDSFvariants.xlsx │ ├── timeDSFvariants2.xlsx │ ├── timeInertialNavFactor_GlobalVelocity.cpp │ └── timeShonanAveraging.cpp ├── makestats.sh ├── matlab ├── +gtsam │ ├── CHECK.m │ ├── Contents.m │ ├── EQUALITY.m │ ├── EXPECT.m │ ├── Point2.m │ ├── Point3.m │ ├── VisualISAMGenerateData.m │ ├── VisualISAMInitialize.m │ ├── VisualISAMPlot.m │ ├── VisualISAMStep.m │ ├── circlePose2.m │ ├── circlePose3.m │ ├── covarianceEllipse.m │ ├── covarianceEllipse3D.m │ ├── cylinderSampleProjection.m │ ├── cylinderSampleProjectionStereo.m │ ├── cylinderSampling.m │ ├── findExampleDataFile.m │ ├── load3D.m │ ├── plot2DPoints.m │ ├── plot2DTrajectory.m │ ├── plot3DPoints.m │ ├── plot3DTrajectory.m │ ├── plotBayesNet.m │ ├── plotBayesTree.m │ ├── plotCamera.m │ ├── plotCylinderSamples.m │ ├── plotFlyingResults.m │ ├── plotPoint2.m │ ├── plotPoint3.m │ ├── plotPose2.m │ ├── plotPose3.m │ ├── points2DTrackMonocular.m │ └── points2DTrackStereo.m ├── CMakeLists.txt ├── README.md ├── gtsam_examples │ ├── CameraFlyingExample.m │ ├── IMUKittiExampleGPS.m │ ├── LocalizationExample.m │ ├── MonocularVOExample.m │ ├── OdometryExample.m │ ├── PlanarSLAMExample.m │ ├── PlanarSLAMExample_graph.m │ ├── PlanarSLAMExample_sampling.m │ ├── Pose2SLAMExample.m │ ├── Pose2SLAMExample_advanced.m │ ├── Pose2SLAMExample_circle.m │ ├── Pose2SLAMExample_graph.m │ ├── Pose2SLAMwSPCG.m │ ├── Pose3SLAMExample.m │ ├── Pose3SLAMExample_graph.m │ ├── RangeISAMExample_plaza.m │ ├── RangeSLAMExample_plaza.m │ ├── SBAExample.m │ ├── SFMExample.m │ ├── StereoVOExample.m │ ├── StereoVOExample_large.m │ ├── VisualISAMDemo.m │ ├── VisualISAMExample.m │ ├── VisualISAM_gui.fig │ ├── VisualISAM_gui.m │ ├── VisualizeMEstimators.m │ ├── deg2utm.m │ ├── gtsamExamples.fig │ └── gtsamExamples.m ├── gtsam_tests │ ├── .gitignore │ ├── testCal3Unified.m │ ├── testEnum.m │ ├── testJacobianFactor.m │ ├── testKalmanFilter.m │ ├── testLocalizationExample.m │ ├── testOdometryExample.m │ ├── testPlanarSLAMExample.m │ ├── testPose2SLAMExample.m │ ├── testPose3SLAMExample.m │ ├── testPriorFactor.m │ ├── testProperties.m │ ├── testSFMExample.m │ ├── testSerialization.m │ ├── testStereoVOExample.m │ ├── testThinBayesTree.m │ ├── testThinTree.m │ ├── testThinTreeBayesNet.m │ ├── testTriangulation.m │ ├── testUtilities.m │ ├── testValues.m │ ├── testVisualISAMExample.m │ ├── test_gtsam.m │ ├── thinBayesTree.m │ ├── thinTree.m │ └── thinTreeBayesNet.m └── unstable_examples │ ├── +imuSimulator │ ├── +lib │ │ ├── antisim.m │ │ ├── arrow3d.m │ │ ├── getxyz.m │ │ ├── plot_trajectory.m │ │ ├── ref_frame_plot.m │ │ ├── rotatePoints.m │ │ └── uth2rot.m │ ├── IMUComparison.m │ ├── IMUComparison_with_cov.m │ ├── LatLonHRad_to_ECEF.m │ ├── OdometryExample3D.m │ ├── calculateIMUMeas_coriolis.m │ ├── calculateIMUMeasurement.m │ ├── coriolisExample.m │ ├── coriolisTestMonteCarlo.m │ ├── covarianceAnalysisBetween.m │ ├── covarianceAnalysisCreateFactorGraph.m │ ├── covarianceAnalysisCreateTrajectory.m │ ├── ct2ENU.m │ ├── getPoseFromGtScenario.m │ ├── integrateIMUTrajectory.m │ ├── integrateIMUTrajectory_bodyFrame.m │ ├── integrateIMUTrajectory_navFrame.m │ ├── integrateTrajectory.m │ ├── runConsistencyTests.m │ ├── test1onestep.m │ ├── test2constglobal.m │ ├── test3constbody.m │ └── test4circle.m │ ├── .gitignore │ ├── ConcurrentFilteringAndSmoothingExample.m │ ├── FlightCameraTransformIMU.m │ ├── IMUKittiExampleAdvanced.m │ ├── IMUKittiExampleVO.m │ ├── SmartRangeFactorExample.m │ ├── TransformCalProjectionFactorExampleISAM.m │ ├── TransformCalProjectionFactorIMUExampleISAM.m │ ├── TransformProjectionFactorExample.m │ ├── TransformProjectionFactorExampleISAM.m │ ├── flight_trajectory.m │ ├── ground_landmarks.m │ ├── plot_projected_landmarks.m │ ├── project_landmarks.m │ └── testTSAMFactors.m ├── myst.yml ├── package.xml ├── python ├── CMakeLists.txt ├── CustomFactors.md ├── MANIFEST.in ├── README.md ├── dev_requirements.txt ├── gtsam │ ├── __init__.py │ ├── examples │ │ ├── .gitignore │ │ ├── BearingRange3DExample.ipynb │ │ ├── CameraResectioning.ipynb │ │ ├── CombinedImuFactorExample.py │ │ ├── CreateSFMExampleData.ipynb │ │ ├── CustomFactorExample.py │ │ ├── DiscreteBayesNetExample.ipynb │ │ ├── DiscreteBayesTree.ipynb │ │ ├── DiscreteMotionModel.ipynb │ │ ├── DiscreteSwitching.ipynb │ │ ├── DogLegOptimizerExample.py │ │ ├── EKF_SLAM.ipynb │ │ ├── EqF.ipynb │ │ ├── EqF.py │ │ ├── EssentialViewGraphExample.py │ │ ├── FisheyeExample.ipynb │ │ ├── FixedLagSmootherExample.py │ │ ├── GPSFactorExample.py │ │ ├── Gal3ImuASVExample.ipynb │ │ ├── Gal3ImuExample.ipynb │ │ ├── HMMExample.ipynb │ │ ├── HybridCity10000.py │ │ ├── IMUKittiExampleGPS.py │ │ ├── ImuFactorExample.py │ │ ├── ImuFactorISAM2Example.py │ │ ├── LQRExample.ipynb │ │ ├── NavStateImuASVExample.ipynb │ │ ├── NavStateImuExample.ipynb │ │ ├── OdometryExample.py │ │ ├── PlanarManipulatorExample.py │ │ ├── PlanarSLAMExample.ipynb │ │ ├── Pose2ISAM2Example.py │ │ ├── Pose2SLAMExample.ipynb │ │ ├── Pose2SLAMExample_g2o.py │ │ ├── Pose2SLAMExample_lago.py │ │ ├── Pose2SLAMStressTest.ipynb │ │ ├── Pose2SLAMwSPCG.ipynb │ │ ├── Pose3ISAM2Example.py │ │ ├── Pose3SLAMExample_g2o.py │ │ ├── Pose3SLAMExample_initializePose3Chordal.py │ │ ├── PreintegrationExample.py │ │ ├── README.md │ │ ├── RangeISAMExample_plaza2.ipynb │ │ ├── RangeSLAMExample_plaza2.ipynb │ │ ├── SFMExample.py │ │ ├── SFMExample_bal.py │ │ ├── SFMdata.py │ │ ├── SL4SLAMExample.ipynb │ │ ├── SelfCalibrationExample.py │ │ ├── ShonanAveragingCLI.py │ │ ├── SimpleRotation.py │ │ ├── StereoVOExample.ipynb │ │ ├── StereoVOExample_large.ipynb │ │ ├── TranslationAveragingExample.py │ │ ├── ViewGraphComparison.py │ │ ├── ViewGraphExample.py │ │ ├── VisualISAM2Example.py │ │ ├── VisualISAMExample.py │ │ ├── __init__.py │ │ ├── easyPoint2KalmanFilter.ipynb │ │ ├── elaboratePoint2KalmanFilter.ipynb │ │ ├── gtsam_plotly.py │ │ ├── iLQRExample.ipynb │ │ ├── plot_city10000.py │ │ └── simulation.py │ ├── gtsam.tpl │ ├── gtsfm.py │ ├── imuBias.py │ ├── noiseModel.py │ ├── notebooks │ │ ├── ellipses.ipynb │ │ └── standardize_notebooks.py │ ├── preamble │ │ ├── base.h │ │ ├── basis.h │ │ ├── custom.h │ │ ├── discrete.h │ │ ├── geometry.h │ │ ├── gtsam.h │ │ ├── hybrid.h │ │ ├── inference.h │ │ ├── linear.h │ │ ├── navigation.h │ │ ├── nonlinear.h │ │ ├── sam.h │ │ ├── sfm.h │ │ ├── slam.h │ │ ├── symbolic.h │ │ └── values.h │ ├── specializations │ │ ├── base.h │ │ ├── basis.h │ │ ├── custom.h │ │ ├── discrete.h │ │ ├── geometry.h │ │ ├── gtsam.h │ │ ├── hybrid.h │ │ ├── inference.h │ │ ├── linear.h │ │ ├── navigation.h │ │ ├── nonlinear.h │ │ ├── sam.h │ │ ├── sfm.h │ │ ├── slam.h │ │ ├── symbolic.h │ │ └── values.h │ ├── symbol_shorthand.py │ ├── tests │ │ ├── dfg_utils.py │ │ ├── test_Cal3Fisheye.py │ │ ├── test_Cal3Unified.py │ │ ├── test_Chebyshev2.py │ │ ├── test_DSFMap.py │ │ ├── test_DecisionTreeFactor.py │ │ ├── test_DiscreteBayesNet.py │ │ ├── test_DiscreteBayesTree.dot │ │ ├── test_DiscreteBayesTree.py │ │ ├── test_DiscreteConditional.py │ │ ├── test_DiscreteDistribution.py │ │ ├── test_DiscreteFactorGraph.py │ │ ├── test_DiscreteSearch.py │ │ ├── test_DsfTrackGenerator.py │ │ ├── test_EssentialMatrixConstraint.py │ │ ├── test_Factors.py │ │ ├── test_FixedLagSmootherExample.py │ │ ├── test_FrobeniusFactor.py │ │ ├── test_FundamentalMatrix.py │ │ ├── test_GaussianBayesNet.py │ │ ├── test_GaussianFactorGraph.py │ │ ├── test_GraphvizFormatting.py │ │ ├── test_HybridBayesNet.py │ │ ├── test_HybridFactorGraph.py │ │ ├── test_HybridNonlinearFactorGraph.py │ │ ├── test_HybridValues.py │ │ ├── test_JacobianFactor.py │ │ ├── test_KalmanFilter.py │ │ ├── test_KarcherMeanFactor.py │ │ ├── test_LocalizationExample.py │ │ ├── test_NonlinearOptimizer.py │ │ ├── test_OdometryExample.py │ │ ├── test_PinholeCamera.py │ │ ├── test_PlanarSLAMExample.py │ │ ├── test_Point2.py │ │ ├── test_Point3.py │ │ ├── test_Pose2.py │ │ ├── test_Pose2SLAMExample.py │ │ ├── test_Pose3.py │ │ ├── test_Pose3SLAMExample.py │ │ ├── test_PriorFactor.py │ │ ├── test_Robust.py │ │ ├── test_Rot3.py │ │ ├── test_SFMExample.py │ │ ├── test_SO4.py │ │ ├── test_SOn.py │ │ ├── test_Scenario.py │ │ ├── test_ScenarioRunner.py │ │ ├── test_Serialization.py │ │ ├── test_SfmData.py │ │ ├── test_ShonanAveraging.py │ │ ├── test_Sim2.py │ │ ├── test_Sim3.py │ │ ├── test_SimpleCamera.py │ │ ├── test_StereoVOExample.py │ │ ├── test_TranslationRecovery.py │ │ ├── test_Triangulation.py │ │ ├── test_Utilities.py │ │ ├── test_Values.py │ │ ├── test_VisualISAMExample.py │ │ ├── test_backwards_compatibility.py │ │ ├── test_basis.py │ │ ├── test_custom_factor.py │ │ ├── test_dataset.py │ │ ├── test_initialize_pose3.py │ │ ├── test_lago.py │ │ ├── test_logging_optimizer.py │ │ ├── test_numerical_derivative.py │ │ ├── test_pickle.py │ │ └── test_sam.py │ └── utils │ │ ├── __init__.py │ │ ├── circlePose3.py │ │ ├── generate_trajectory.py │ │ ├── logging_optimizer.py │ │ ├── numerical_derivative.py │ │ ├── plot.py │ │ ├── test_case.py │ │ ├── visual_data_generator.py │ │ └── visual_isam.py ├── gtsam_unstable │ ├── __init__.py │ ├── examples │ │ ├── LocalizationExample.py │ │ ├── SmartStereoProjectionPoseFactorExample.py │ │ ├── TimeOfArrivalExample.py │ │ └── __init__.py │ ├── gtsam_unstable.tpl │ ├── preamble.h │ ├── specializations │ │ └── gtsam_unstable.h │ └── tests │ │ ├── __init__.py │ │ └── test_ProjectionFactorRollingShutter.py ├── requirements.txt └── setup.py.in ├── tests ├── CMakeLists.txt ├── ImuMeasurement.h ├── Measurement.h ├── simulated2D.h ├── simulated2DConstraints.h ├── simulated2DOriented.h ├── simulated3D.h ├── smallExample.h ├── testBoundingConstraint.cpp ├── testDoglegOptimizer.cpp ├── testExpressionFactor.cpp ├── testExtendedKalmanFilter.cpp ├── testGaussianBayesTreeB.cpp ├── testGaussianFactorGraphB.cpp ├── testGaussianISAM.cpp ├── testGaussianISAM2.cpp ├── testGaussianJunctionTreeB.cpp ├── testGeneralSFMFactorB.cpp ├── testGncOptimizer.cpp ├── testGraph.cpp ├── testImuPreintegration.cpp ├── testIterative.cpp ├── testManifold.cpp ├── testMarginals.cpp ├── testNonlinearEquality.cpp ├── testNonlinearFactor.cpp ├── testNonlinearFactorGraph.cpp ├── testNonlinearISAM.cpp ├── testNonlinearOptimizer.cpp ├── testPCGSolver.cpp ├── testPreconditioner.cpp ├── testProductLieGroup.cpp ├── testRobust.cpp ├── testRot3Optimization.cpp ├── testSerializationSlam.cpp ├── testSimulated2D.cpp ├── testSimulated2DOriented.cpp ├── testSimulated3D.cpp ├── testSubgraphPreconditioner.cpp ├── testSubgraphSolver.cpp ├── testTranslationRecovery.cpp └── testVisualISAM2.cpp ├── timing ├── CMakeLists.txt ├── DummyFactor.h ├── timeAdaptAutoDiff.cpp ├── timeBatch.cpp ├── timeCalibratedCamera.cpp ├── timeCameraExpression.cpp ├── timeCholesky.cpp ├── timeFactorOverhead.cpp ├── timeFrobeniusFactor.cpp ├── timeGaussianFactor.cpp ├── timeGaussianFactorGraph.cpp ├── timeIncremental.cpp ├── timeLago.cpp ├── timeLinearize.h ├── timeMatrix.cpp ├── timeMatrixOps.cpp ├── timeOneCameraExpression.cpp ├── timePinholeCamera.cpp ├── timePose2.cpp ├── timePose3.cpp ├── timeRot2.cpp ├── timeRot3.cpp ├── timeSFMBAL.cpp ├── timeSFMBAL.h ├── timeSFMBALautodiff.cpp ├── timeSFMBALcamTnav.cpp ├── timeSFMBALnavTcam.cpp ├── timeSFMBALsmart.cpp ├── timeSFMExpressions.cpp ├── timeSchurFactors.cpp ├── timeShonanFactor.cpp ├── timeStereoCamera.cpp ├── timeTest.cpp ├── timeVirtual.cpp ├── timeVirtual2.cpp └── timeiSAM2Chain.cpp ├── update_wrap.sh └── wrap ├── .github └── workflows │ ├── linux-ci.yml │ └── macos-ci.yml ├── .gitignore ├── CMakeLists.txt ├── DOCS.md ├── LICENSE ├── README.md ├── cmake ├── GtwrapUtils.cmake ├── MatlabWrap.cmake ├── PybindWrap.cmake └── gtwrapConfig.cmake.in ├── docs ├── doc_template.py ├── docs.py └── parser │ ├── doxygen.conf │ ├── parse_doxygen_xml.py │ └── parse_xml.py ├── gtwrap ├── __init__.py ├── interface_parser │ ├── __init__.py │ ├── classes.py │ ├── declaration.py │ ├── enum.py │ ├── function.py │ ├── module.py │ ├── namespace.py │ ├── template.py │ ├── tokens.py │ ├── type.py │ ├── utils.py │ └── variable.py ├── matlab_wrapper │ ├── __init__.py │ ├── mixins.py │ ├── templates.py │ └── wrapper.py ├── pybind_wrapper.py ├── template_instantiator │ ├── __init__.py │ ├── classes.py │ ├── constructor.py │ ├── declaration.py │ ├── function.py │ ├── helpers.py │ ├── method.py │ └── namespace.py └── xml_parser │ ├── __init__.py │ └── xml_parser.py ├── matlab.h ├── pybind11 ├── .appveyor.yml ├── .clang-format ├── .clang-tidy ├── .cmake-format.yaml ├── .codespell-ignore-lines ├── .gitattributes ├── .github │ ├── CODEOWNERS │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE │ │ ├── bug-report.yml │ │ └── config.yml │ ├── dependabot.yml │ ├── labeler.yml │ ├── labeler_merged.yml │ ├── matchers │ │ └── pylint.json │ ├── pull_request_template.md │ └── workflows │ │ ├── ci.yml │ │ ├── configure.yml │ │ ├── docs-link.yml │ │ ├── format.yml │ │ ├── labeler.yml │ │ ├── nightlies.yml │ │ ├── pip.yml │ │ ├── reusable-standard.yml │ │ ├── tests-cibw.yml │ │ └── upstream.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CMakeLists.txt ├── CMakePresets.json ├── LICENSE ├── README.rst ├── SECURITY.md ├── docs │ ├── Doxyfile │ ├── Makefile │ ├── _static │ │ └── css │ │ │ └── custom.css │ ├── advanced │ │ ├── cast │ │ │ ├── chrono.rst │ │ │ ├── custom.rst │ │ │ ├── eigen.rst │ │ │ ├── functional.rst │ │ │ ├── index.rst │ │ │ ├── overview.rst │ │ │ ├── stl.rst │ │ │ └── strings.rst │ │ ├── classes.rst │ │ ├── deadlock.md │ │ ├── deprecated.rst │ │ ├── embedding.rst │ │ ├── exceptions.rst │ │ ├── functions.rst │ │ ├── misc.rst │ │ ├── pycpp │ │ │ ├── index.rst │ │ │ ├── numpy.rst │ │ │ ├── object.rst │ │ │ └── utilities.rst │ │ └── smart_ptrs.rst │ ├── basics.rst │ ├── benchmark.py │ ├── benchmark.rst │ ├── changelog.md │ ├── classes.rst │ ├── cmake │ │ └── index.rst │ ├── compiling.rst │ ├── conf.py │ ├── faq.rst │ ├── index.rst │ ├── installing.rst │ ├── limitations.rst │ ├── pybind11-logo.png │ ├── pybind11_vs_boost_python1.png │ ├── pybind11_vs_boost_python1.svg │ ├── pybind11_vs_boost_python2.png │ ├── pybind11_vs_boost_python2.svg │ ├── reference.rst │ ├── release.rst │ ├── requirements.in │ ├── requirements.txt │ └── upgrade.rst ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── conduit │ │ ├── README.txt │ │ ├── pybind11_conduit_v1.h │ │ ├── pybind11_platform_abi_id.h │ │ └── wrap_include_python_h.h │ │ ├── critical_section.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── cpp_conduit.h │ │ ├── descr.h │ │ ├── dynamic_raw_ptr_cast_if_possible.h │ │ ├── exception_translation.h │ │ ├── function_record_pyobject.h │ │ ├── init.h │ │ ├── internals.h │ │ ├── native_enum_data.h │ │ ├── pybind11_namespace_macros.h │ │ ├── struct_smart_holder.h │ │ ├── type_caster_base.h │ │ ├── typeid.h │ │ ├── using_smart_holder.h │ │ └── value_and_holder.h │ │ ├── eigen.h │ │ ├── eigen │ │ ├── common.h │ │ ├── matrix.h │ │ └── tensor.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── gil.h │ │ ├── gil_safe_call_once.h │ │ ├── gil_simple.h │ │ ├── iostream.h │ │ ├── native_enum.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ ├── stl │ │ └── filesystem.h │ │ ├── stl_bind.h │ │ ├── subinterpreter.h │ │ ├── trampoline_self_life_support.h │ │ ├── type_caster_pyobject_ptr.h │ │ ├── typing.h │ │ └── warnings.h ├── noxfile.py ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ ├── _version.py │ ├── commands.py │ ├── py.typed │ └── setup_helpers.py ├── pyproject.toml ├── tests │ ├── CMakeLists.txt │ ├── conftest.py │ ├── constructor_stats.h │ ├── cross_module_gil_utils.cpp │ ├── cross_module_interleaved_error_already_set.cpp │ ├── custom_exceptions.py │ ├── eigen_tensor_avoid_stl_array.cpp │ ├── env.py │ ├── exo_planet_c_api.cpp │ ├── exo_planet_pybind11.cpp │ ├── extra_python_package │ │ ├── pytest.ini │ │ └── test_files.py │ ├── extra_setuptools │ │ ├── pytest.ini │ │ └── test_setuphelper.py │ ├── home_planet_very_lonely_traveler.cpp │ ├── local_bindings.h │ ├── mod_per_interpreter_gil.cpp │ ├── mod_shared_interpreter_gil.cpp │ ├── object.h │ ├── pure_cpp │ │ ├── CMakeLists.txt │ │ ├── smart_holder_poc.h │ │ └── smart_holder_poc_test.cpp │ ├── pybind11_cross_module_tests.cpp │ ├── pybind11_tests.cpp │ ├── pybind11_tests.h │ ├── pyproject.toml │ ├── pytest.ini │ ├── requirements.txt │ ├── test_async.cpp │ ├── test_async.py │ ├── test_buffers.cpp │ ├── test_buffers.py │ ├── test_builtin_casters.cpp │ ├── test_builtin_casters.py │ ├── test_call_policies.cpp │ ├── test_call_policies.py │ ├── test_callbacks.cpp │ ├── test_callbacks.py │ ├── test_chrono.cpp │ ├── test_chrono.py │ ├── test_class.cpp │ ├── test_class.py │ ├── test_class_release_gil_before_calling_cpp_dtor.cpp │ ├── test_class_release_gil_before_calling_cpp_dtor.py │ ├── test_class_sh_basic.cpp │ ├── test_class_sh_basic.py │ ├── test_class_sh_disowning.cpp │ ├── test_class_sh_disowning.py │ ├── test_class_sh_disowning_mi.cpp │ ├── test_class_sh_disowning_mi.py │ ├── test_class_sh_factory_constructors.cpp │ ├── test_class_sh_factory_constructors.py │ ├── test_class_sh_inheritance.cpp │ ├── test_class_sh_inheritance.py │ ├── test_class_sh_mi_thunks.cpp │ ├── test_class_sh_mi_thunks.py │ ├── test_class_sh_property.cpp │ ├── test_class_sh_property.py │ ├── test_class_sh_property_non_owning.cpp │ ├── test_class_sh_property_non_owning.py │ ├── test_class_sh_shared_ptr_copy_move.cpp │ ├── test_class_sh_shared_ptr_copy_move.py │ ├── test_class_sh_trampoline_basic.cpp │ ├── test_class_sh_trampoline_basic.py │ ├── test_class_sh_trampoline_self_life_support.cpp │ ├── test_class_sh_trampoline_self_life_support.py │ ├── test_class_sh_trampoline_shared_from_this.cpp │ ├── test_class_sh_trampoline_shared_from_this.py │ ├── test_class_sh_trampoline_shared_ptr_cpp_arg.cpp │ ├── test_class_sh_trampoline_shared_ptr_cpp_arg.py │ ├── test_class_sh_trampoline_unique_ptr.cpp │ ├── test_class_sh_trampoline_unique_ptr.py │ ├── test_class_sh_unique_ptr_custom_deleter.cpp │ ├── test_class_sh_unique_ptr_custom_deleter.py │ ├── test_class_sh_unique_ptr_member.cpp │ ├── test_class_sh_unique_ptr_member.py │ ├── test_class_sh_virtual_py_cpp_mix.cpp │ ├── test_class_sh_virtual_py_cpp_mix.py │ ├── test_cmake_build │ │ ├── CMakeLists.txt │ │ ├── embed.cpp │ │ ├── installed_embed │ │ │ └── CMakeLists.txt │ │ ├── installed_function │ │ │ └── CMakeLists.txt │ │ ├── installed_target │ │ │ └── CMakeLists.txt │ │ ├── main.cpp │ │ ├── subdirectory_embed │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_function │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_target │ │ │ └── CMakeLists.txt │ │ └── test.py │ ├── test_const_name.cpp │ ├── test_const_name.py │ ├── test_constants_and_functions.cpp │ ├── test_constants_and_functions.py │ ├── test_copy_move.cpp │ ├── test_copy_move.py │ ├── test_cpp_conduit.cpp │ ├── test_cpp_conduit.py │ ├── test_cpp_conduit_traveler_bindings.h │ ├── test_cpp_conduit_traveler_types.h │ ├── test_cross_module_rtti │ │ ├── CMakeLists.txt │ │ ├── bindings.cpp │ │ ├── catch.cpp │ │ ├── lib.cpp │ │ ├── lib.h │ │ └── test_cross_module_rtti.cpp │ ├── test_custom_type_casters.cpp │ ├── test_custom_type_casters.py │ ├── test_custom_type_setup.cpp │ ├── test_custom_type_setup.py │ ├── test_docs_advanced_cast_custom.cpp │ ├── test_docs_advanced_cast_custom.py │ ├── test_docstring_options.cpp │ ├── test_docstring_options.py │ ├── test_eigen_matrix.cpp │ ├── test_eigen_matrix.py │ ├── test_eigen_tensor.cpp │ ├── test_eigen_tensor.inl │ ├── test_eigen_tensor.py │ ├── test_embed │ │ ├── CMakeLists.txt │ │ ├── catch.cpp │ │ ├── external_module.cpp │ │ ├── test_interpreter.cpp │ │ ├── test_interpreter.py │ │ ├── test_subinterpreter.cpp │ │ └── test_trampoline.py │ ├── test_enum.cpp │ ├── test_enum.py │ ├── test_eval.cpp │ ├── test_eval.py │ ├── test_eval_call.py │ ├── test_exceptions.cpp │ ├── test_exceptions.h │ ├── test_exceptions.py │ ├── test_factory_constructors.cpp │ ├── test_factory_constructors.py │ ├── test_gil_scoped.cpp │ ├── test_gil_scoped.py │ ├── test_iostream.cpp │ ├── test_iostream.py │ ├── test_kwargs_and_defaults.cpp │ ├── test_kwargs_and_defaults.py │ ├── test_local_bindings.cpp │ ├── test_local_bindings.py │ ├── test_methods_and_attributes.cpp │ ├── test_methods_and_attributes.py │ ├── test_modules.cpp │ ├── test_modules.py │ ├── test_multiple_inheritance.cpp │ ├── test_multiple_inheritance.py │ ├── test_multiple_interpreters.py │ ├── test_native_enum.cpp │ ├── test_native_enum.py │ ├── test_numpy_array.cpp │ ├── test_numpy_array.py │ ├── test_numpy_dtypes.cpp │ ├── test_numpy_dtypes.py │ ├── test_numpy_scalars.cpp │ ├── test_numpy_scalars.py │ ├── test_numpy_vectorize.cpp │ ├── test_numpy_vectorize.py │ ├── test_opaque_types.cpp │ ├── test_opaque_types.py │ ├── test_operator_overloading.cpp │ ├── test_operator_overloading.py │ ├── test_pickling.cpp │ ├── test_pickling.py │ ├── test_potentially_slicing_weak_ptr.cpp │ ├── test_potentially_slicing_weak_ptr.py │ ├── test_python_multiple_inheritance.cpp │ ├── test_python_multiple_inheritance.py │ ├── test_pytypes.cpp │ ├── test_pytypes.py │ ├── test_scoped_critical_section.cpp │ ├── test_scoped_critical_section.py │ ├── test_sequences_and_iterators.cpp │ ├── test_sequences_and_iterators.py │ ├── test_smart_ptr.cpp │ ├── test_smart_ptr.py │ ├── test_stl.cpp │ ├── test_stl.py │ ├── test_stl_binders.cpp │ ├── test_stl_binders.py │ ├── test_tagbased_polymorphic.cpp │ ├── test_tagbased_polymorphic.py │ ├── test_thread.cpp │ ├── test_thread.py │ ├── test_type_caster_pyobject_ptr.cpp │ ├── test_type_caster_pyobject_ptr.py │ ├── test_type_caster_std_function_specializations.cpp │ ├── test_type_caster_std_function_specializations.py │ ├── test_union.cpp │ ├── test_union.py │ ├── test_unnamed_namespace_a.cpp │ ├── test_unnamed_namespace_a.py │ ├── test_unnamed_namespace_b.cpp │ ├── test_unnamed_namespace_b.py │ ├── test_vector_unique_ptr_member.cpp │ ├── test_vector_unique_ptr_member.py │ ├── test_virtual_functions.cpp │ ├── test_virtual_functions.py │ ├── test_warnings.cpp │ ├── test_warnings.py │ ├── valgrind-numpy-scipy.supp │ └── valgrind-python.supp └── tools │ ├── FindCatch.cmake │ ├── FindEigen3.cmake │ ├── FindPythonLibsNew.cmake │ ├── JoinPaths.cmake │ ├── check-style.sh │ ├── cmake_uninstall.cmake.in │ ├── codespell_ignore_lines_from_errors.py │ ├── libsize.py │ ├── make_changelog.py │ ├── make_global.py │ ├── pybind11.pc.in │ ├── pybind11Common.cmake │ ├── pybind11Config.cmake.in │ ├── pybind11GuessPythonExtSuffix.cmake │ ├── pybind11NewTools.cmake │ ├── pybind11Tools.cmake │ └── test-pybind11GuessPythonExtSuffix.cmake ├── pyproject.toml ├── scripts ├── matlab_wrap.py └── pybind_wrap.py ├── sphinx ├── Makefile ├── conf.py ├── index.rst ├── make.bat └── wrap.rst ├── templates ├── matlab_wrapper.tpl.in └── pybind_wrapper.tpl.example ├── tests ├── .gitignore ├── CMakeLists.txt ├── actual │ └── .gitignore ├── expected │ ├── matlab │ │ ├── +Pet │ │ │ └── Kind.m │ │ ├── +gtsam │ │ │ ├── +MCU │ │ │ │ ├── Avengers.m │ │ │ │ └── GotG.m │ │ │ ├── +OptimizerGaussNewtonParams │ │ │ │ └── Verbosity.m │ │ │ ├── Class1.m │ │ │ ├── Class2.m │ │ │ ├── ClassA.m │ │ │ ├── GeneralSFMFactorCal3Bundler.m │ │ │ ├── NonlinearFactorGraph.m │ │ │ ├── PinholeCameraCal3Bundler.m │ │ │ ├── Point2.m │ │ │ ├── Point3.m │ │ │ ├── SfmTrack.m │ │ │ ├── Values.m │ │ │ └── VerbosityLM.m │ │ ├── +ns1 │ │ │ ├── ClassA.m │ │ │ ├── ClassB.m │ │ │ └── aGlobalFunction.m │ │ ├── +ns2 │ │ │ ├── +ns3 │ │ │ │ └── ClassB.m │ │ │ ├── ClassA.m │ │ │ ├── ClassC.m │ │ │ ├── aGlobalFunction.m │ │ │ └── overloadedGlobalFunction.m │ │ ├── ClassD.m │ │ ├── Color.m │ │ ├── DefaultFuncInt.m │ │ ├── DefaultFuncObj.m │ │ ├── DefaultFuncString.m │ │ ├── DefaultFuncVector.m │ │ ├── DefaultFuncZero.m │ │ ├── EliminateDiscrete.m │ │ ├── FastSet.m │ │ ├── FindKarcherMeanPoint3.m │ │ ├── FindKarcherMeanPose2.m │ │ ├── FindKarcherMeanPose3.m │ │ ├── FindKarcherMeanRot2.m │ │ ├── FindKarcherMeanRot3.m │ │ ├── FindKarcherMeanSO3.m │ │ ├── FindKarcherMeanSO4.m │ │ ├── ForwardKinematics.m │ │ ├── ForwardKinematicsFactor.m │ │ ├── FunDouble.m │ │ ├── FunRange.m │ │ ├── HessianFactor.m │ │ ├── MultiTemplatedFunctionDoubleSize_tDouble.m │ │ ├── MultiTemplatedFunctionStringSize_tDouble.m │ │ ├── MultipleTemplatesIntDouble.m │ │ ├── MultipleTemplatesIntFloat.m │ │ ├── MyBase.m │ │ ├── MyFactorPosePoint2.m │ │ ├── MyTemplateA.m │ │ ├── MyTemplateMatrix.m │ │ ├── MyTemplatePoint2.m │ │ ├── MyVector12.m │ │ ├── MyVector3.m │ │ ├── ParentHasTemplateDouble.m │ │ ├── Pet.m │ │ ├── PrimitiveRefDouble.m │ │ ├── ScopedTemplateResult.m │ │ ├── SmartProjectionRigFactorPinholeCameraCal3_S2.m │ │ ├── TemplatedConstructor.m │ │ ├── TemplatedFunctionRot3.m │ │ ├── Test.m │ │ ├── aGlobalFunction.m │ │ ├── class_wrapper.cpp │ │ ├── enum_wrapper.cpp │ │ ├── functions_wrapper.cpp │ │ ├── geometry_wrapper.cpp │ │ ├── inheritance_wrapper.cpp │ │ ├── load2D.m │ │ ├── multiple_files_wrapper.cpp │ │ ├── namespaces_wrapper.cpp │ │ ├── overloadedGlobalFunction.m │ │ ├── setPose.m │ │ ├── special_cases_wrapper.cpp │ │ ├── template_wrapper.cpp │ │ └── triangulatePoint3Cal3_S2.m │ ├── python │ │ ├── class_pybind.cpp │ │ ├── enum_pybind.cpp │ │ ├── functions_pybind.cpp │ │ ├── geometry_pybind.cpp │ │ ├── inheritance_pybind.cpp │ │ ├── namespaces_pybind.cpp │ │ ├── operator_pybind.cpp │ │ ├── special_cases_pybind.cpp │ │ └── templates_pybind.cpp │ └── xml │ │ ├── JacobianFactorQ_8h.xml │ │ ├── NonlinearFactor_8h.xml │ │ ├── classgtsam_1_1JacobianFactorQ.xml │ │ ├── classgtsam_1_1NoiseModelFactor.xml │ │ ├── classgtsam_1_1NoiseModelFactor1.xml │ │ ├── classgtsam_1_1NoiseModelFactor2.xml │ │ ├── classgtsam_1_1NoiseModelFactor3.xml │ │ ├── classgtsam_1_1NoiseModelFactor4.xml │ │ ├── classgtsam_1_1NoiseModelFactor5.xml │ │ ├── classgtsam_1_1NoiseModelFactor6.xml │ │ ├── classgtsam_1_1NonlinearFactor.xml │ │ ├── combine.xslt │ │ ├── compound.xsd │ │ ├── deprecated.xml │ │ ├── dir_59425e443f801f1f2fd8bbe4959a3ccf.xml │ │ ├── dir_e4787312bc569bb879bb1171628269de.xml │ │ ├── index.xml │ │ ├── index.xsd │ │ ├── namespacegtsam.xml │ │ ├── structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml │ │ └── structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml ├── fixtures │ ├── class.i │ ├── enum.i │ ├── functions.i │ ├── geometry.i │ ├── inheritance.i │ ├── namespaces.i │ ├── operator.i │ ├── part1.i │ ├── part2.i │ ├── special_cases.i │ └── templates.i ├── pybind_wrapper.tpl ├── pybind_wrapper_test.cc ├── pybind_wrapper_test.gth ├── pybind_wrapper_test.h ├── pybind_wrapper_test_script.py ├── testDependencies.h ├── testMemory.m ├── test_docs.py ├── test_interface_parser.py ├── test_matlab_wrapper.py ├── test_pybind_wrapper.py └── test_template_instantiator.py ├── utilities └── update.sh └── uv.lock /.clang-format: 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