├── .cproject ├── .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 ├── Final_Capstone_Presentation.pdf ├── GTSAM-Concepts.md ├── INSTALL.md ├── LICENSE ├── LICENSE.BSD ├── README.md ├── THANKS ├── USAGE.md ├── bitbucket-pipelines.yml ├── cmake ├── CMakeLists.txt ├── Config.cmake.in ├── FindCython.cmake ├── FindEigen3.cmake ├── FindGooglePerfTools.cmake ├── FindMKL.cmake ├── FindNumPy.cmake ├── FindTBB.cmake ├── GTSAMCMakeToolsConfig.cmake ├── GtsamAddPch.cmake ├── GtsamBuildTypes.cmake ├── GtsamCythonWrap.cmake ├── GtsamMakeConfigFile.cmake ├── GtsamMatlabWrap.cmake ├── GtsamPrinting.cmake ├── GtsamPythonWrap.cmake ├── GtsamTesting.cmake ├── README.html ├── README.md ├── dllexport.h.in ├── example_project │ ├── CMakeLists.txt │ ├── SayGoodbye.cpp │ ├── SayHello.cpp │ ├── example.h │ ├── example │ │ ├── PrintExamples.cpp │ │ └── PrintExamples.h │ └── tests │ │ └── testExample.cpp └── obsolete │ ├── FindCppUnitLite.cmake │ ├── FindGTSAM.cmake │ ├── FindGTSAM_UNSTABLE.cmake │ ├── FindWrap.cmake │ └── GtsamTestingObsolete.cmake ├── cython ├── CMakeLists.txt ├── README.md ├── gtsam │ ├── __init__.py │ ├── examples │ │ ├── ImuFactorExample2.py │ │ ├── OdometryExample.py │ │ ├── PlanarManipulatorExample.py │ │ ├── PlanarSLAMExample.py │ │ ├── Pose2SLAMExample.py │ │ ├── Pose2SLAMExample_g2o.py │ │ ├── Pose3SLAMExample_g2o.py │ │ ├── README.md │ │ ├── SFMdata.py │ │ ├── VisualISAM2Example.py │ │ └── __init__.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_Cal3Unified.py │ │ ├── test_JacobianFactor.py │ │ ├── test_KalmanFilter.py │ │ ├── test_LocalizationExample.py │ │ ├── test_OdometryExample.py │ │ ├── test_PlanarSLAMExample.py │ │ ├── test_Pose2.py │ │ ├── test_Pose2SLAMExample.py │ │ ├── test_Pose3.py │ │ ├── test_Pose3SLAMExample.py │ │ ├── test_PriorFactor.py │ │ ├── test_SFMExample.py │ │ ├── test_Scenario.py │ │ ├── test_SimpleCamera.py │ │ ├── test_StereoVOExample.py │ │ ├── test_Values.py │ │ └── test_VisualISAMExample.py │ └── utils │ │ ├── __init__.py │ │ ├── circlePose3.py │ │ ├── plot.py │ │ ├── visual_data_generator.py │ │ └── visual_isam.py ├── gtsam_eigency │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── __init__.py.in │ ├── conversions.pxd │ ├── conversions.pyx │ ├── core.pxd │ ├── core.pyx │ └── eigency_cpp.h ├── gtsam_unstable │ ├── __init__.py │ ├── examples │ │ ├── FixedLagSmootherExample.py │ │ └── __init__.py │ └── tests │ │ ├── __init__.py │ │ └── test_FixedLagSmootherExample.py ├── requirements.txt └── setup.py.in ├── 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 ├── ImuFactor.lyx ├── ImuFactor.pdf ├── LieGroups.lyx ├── LieGroups.pdf ├── Mathematica │ ├── CalibratedCamera.nb │ ├── CalibratedStereoCamera.nb │ ├── Quaternion-Logmap.nb │ ├── Rot3.nb │ ├── StereoCamera.nb │ └── dexpInvL_SE2.nb ├── cholesky.lyx ├── common_macros.tex ├── 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 │ └── w100-result.pdf ├── macros.lyx ├── math.lyx ├── math.pdf ├── refs.bib ├── stats.html ├── trustregion.bib ├── trustregion.lyx └── trustregion.pdf ├── docker └── ubuntu-boost-tbb-eigen3 │ └── Dockerfile ├── examples ├── CMakeLists.txt ├── CameraResectioning.cpp ├── CreateSFMExampleData.cpp ├── Data │ ├── .gitignore │ ├── 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 │ ├── ISAM2_SmartFactorStereo_IMU.txt │ ├── KittiEquivBiasedImu.txt │ ├── KittiEquivBiasedImu_metadata.txt │ ├── KittiGps_converted.txt │ ├── Plaza1_.mat │ ├── Plaza1_DR.txt │ ├── Plaza1_TD.txt │ ├── Plaza2_.mat │ ├── Plaza2_DR.txt │ ├── Plaza2_TD.txt │ ├── QPExample.QPS │ ├── StereoSelfCalibration │ │ ├── Extrinsics.txt │ │ ├── ExtrinsicsDeviated.txt │ │ ├── Features.txt │ │ ├── FixedTranslationVector.txt │ │ ├── Poses.txt │ │ └── PosesDeviated.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 │ ├── imuAndGPSdata.csv │ ├── noisyToyGraph.txt │ ├── optimizedNoisyToyGraph.txt │ ├── orientationsNoisyToyGraph.txt │ ├── pose2example.txt │ ├── pose3example-grid.txt │ ├── pose3example-offdiagonal-rewritten.txt │ ├── pose3example-offdiagonal.txt │ ├── pose3example.txt │ ├── simpleGraph10gradIter.txt │ ├── sphere2500.txt │ ├── sphere2500_groundtruth.txt │ ├── sphere_smallnoise.graph │ ├── victoria_park.txt │ ├── w100.graph │ ├── w10000.graph │ └── w20000.txt ├── DiscreteBayesNet_FG.cpp ├── ISAM2Example_SmartFactor.cpp ├── ISAM2_SmartFactorStereo_IMU.cpp ├── ImuFactorExample2.cpp ├── ImuFactorsExample.cpp ├── LocalizationExample.cpp ├── METISOrderingExample.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 ├── Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp ├── Pose3SLAMExample_changeKeys.cpp ├── Pose3SLAMExample_g2o.cpp ├── Pose3SLAMExample_initializePose3Chordal.cpp ├── Pose3SLAMExample_initializePose3Gradient.cpp ├── README.md ├── RangeISAMExample_plaza2.cpp ├── ReadTrajectory.h ├── 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 ├── SimpleRotation.cpp ├── SolverComparer.cpp ├── StereoCalibrationData.h ├── StereoSelfCalibration.cpp ├── StereoSelfCalibrationAPI.cpp ├── StereoSelfCalibrationAPI_old.cpp ├── StereoSelfCalibration_old.cpp ├── StereoVOExample.cpp ├── StereoVOExample_large.cpp ├── StraightTrajectory.h ├── TimeTBB.cpp ├── UGM_chain.cpp ├── UGM_small.cpp ├── VisualISAM2Example.cpp ├── VisualISAMExample.cpp ├── easyPoint2KalmanFilter.cpp └── elaboratePoint2KalmanFilter.cpp ├── factor_graph.png ├── gtsam.h ├── 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 │ │ ├── .hgeol │ │ ├── .hgignore │ │ ├── .hgtags │ │ ├── CMakeLists.txt │ │ ├── COPYING.BSD │ │ ├── COPYING.GPL │ │ ├── COPYING.LGPL │ │ ├── COPYING.MINPACK │ │ ├── COPYING.MPL2 │ │ ├── COPYING.README │ │ ├── CTestConfig.cmake │ │ ├── CTestCustom.cmake.in │ │ ├── Eigen │ │ │ ├── CMakeLists.txt │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── 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 │ │ │ │ ├── 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 │ │ │ │ ├── Inverse.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapBase.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── MathFunctionsImpl.h │ │ │ │ ├── Matrix.h │ │ │ │ ├── MatrixBase.h │ │ │ │ ├── NestByValue.h │ │ │ │ ├── NoAlias.h │ │ │ │ ├── NumTraits.h │ │ │ │ ├── PermutationMatrix.h │ │ │ │ ├── PlainObjectBase.h │ │ │ │ ├── Product.h │ │ │ │ ├── ProductEvaluators.h │ │ │ │ ├── Random.h │ │ │ │ ├── Redux.h │ │ │ │ ├── Ref.h │ │ │ │ ├── Replicate.h │ │ │ │ ├── ReturnByValue.h │ │ │ │ ├── Reverse.h │ │ │ │ ├── Select.h │ │ │ │ ├── SelfAdjointView.h │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ ├── Solve.h │ │ │ │ ├── SolveTriangular.h │ │ │ │ ├── SolverBase.h │ │ │ │ ├── StableNorm.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 │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── CUDA │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── Half.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── Default │ │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ │ └── Settings.h │ │ │ │ │ ├── NEON │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── SSE │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.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 │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ ├── StaticAssert.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_SSE.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 │ │ │ │ ├── LU │ │ │ │ ├── Determinant.h │ │ │ │ ├── FullPivLU.h │ │ │ │ ├── InverseImpl.h │ │ │ │ ├── PartialPivLU.h │ │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ │ └── arch │ │ │ │ │ └── Inverse_SSE.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 │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ └── MatrixCwiseUnaryOps.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_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 │ │ │ │ └── gemm │ │ │ │ │ ├── changesets.txt │ │ │ │ │ ├── gemm.cpp │ │ │ │ │ ├── gemm_settings.txt │ │ │ │ │ ├── lazy_gemm.cpp │ │ │ │ │ ├── lazy_gemm_settings.txt │ │ │ │ │ ├── make_plot.sh │ │ │ │ │ └── run.sh │ │ │ ├── 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 │ │ │ │ ├── tensor_benchmarks.h │ │ │ │ ├── tensor_benchmarks_cpu.cc │ │ │ │ ├── tensor_benchmarks_fp16_gpu.cu │ │ │ │ ├── tensor_benchmarks_gpu.cu │ │ │ │ └── tensor_benchmarks_sycl.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 │ │ ├── cmake │ │ │ ├── Eigen3Config.cmake.in │ │ │ ├── Eigen3ConfigLegacy.cmake.in │ │ │ ├── EigenConfigureTesting.cmake │ │ │ ├── EigenDetermineOSVersion.cmake │ │ │ ├── EigenDetermineVSServicePack.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 │ │ │ ├── FindLAPACK.cmake │ │ │ ├── FindMPFR.cmake │ │ │ ├── FindMetis.cmake │ │ │ ├── FindPTSCOTCH.cmake │ │ │ ├── FindPastix.cmake │ │ │ ├── FindSPQR.cmake │ │ │ ├── FindScotch.cmake │ │ │ ├── FindStandardMathLibrary.cmake │ │ │ ├── FindSuperLU.cmake │ │ │ ├── FindUmfpack.cmake │ │ │ ├── RegexUtils.cmake │ │ │ ├── UseEigen3.cmake │ │ │ └── language_support.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 │ │ │ ├── A05_PortingFrom2To3.dox │ │ │ ├── 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 │ │ │ ├── TutorialReshapeSlicing.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_FixedVectorBlock.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 │ │ │ │ ├── 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_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.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_computeInverseAndDetWithCheck.cpp │ │ │ │ ├── MatrixBase_computeInverseWithCheck.cpp │ │ │ │ ├── MatrixBase_cwiseAbs.cpp │ │ │ │ ├── MatrixBase_cwiseAbs2.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_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_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 │ │ │ │ ├── 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 │ │ │ │ ├── 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_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 │ │ │ │ ├── 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 │ │ │ ├── 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 │ │ │ ├── release.in │ │ │ └── relicense.py │ │ ├── signature_of_eigen3_matrix_library │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ ├── adjoint.cpp │ │ │ ├── array.cpp │ │ │ ├── array_for_matrix.cpp │ │ │ ├── array_of_string.cpp │ │ │ ├── array_replicate.cpp │ │ │ ├── array_reverse.cpp │ │ │ ├── bandmatrix.cpp │ │ │ ├── basicstuff.cpp │ │ │ ├── bdcsvd.cpp │ │ │ ├── bicgstab.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 │ │ │ ├── cuda_basic.cu │ │ │ ├── cuda_common.h │ │ │ ├── denseLM.cpp │ │ │ ├── dense_storage.cpp │ │ │ ├── determinant.cpp │ │ │ ├── diagonal.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 │ │ │ ├── half_float.cpp │ │ │ ├── hessenberg.cpp │ │ │ ├── householder.cpp │ │ │ ├── incomplete_cholesky.cpp │ │ │ ├── inplace_decomposition.cpp │ │ │ ├── integer_types.cpp │ │ │ ├── inverse.cpp │ │ │ ├── is_same_dense.cpp │ │ │ ├── jacobi.cpp │ │ │ ├── jacobisvd.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 │ │ │ ├── nesting_ops.cpp │ │ │ ├── nomalloc.cpp │ │ │ ├── nullary.cpp │ │ │ ├── numext.cpp │ │ │ ├── packetmath.cpp │ │ │ ├── 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 │ │ │ ├── real_qz.cpp │ │ │ ├── redux.cpp │ │ │ ├── ref.cpp │ │ │ ├── resize.cpp │ │ │ ├── rvalue_types.cpp │ │ │ ├── schur_complex.cpp │ │ │ ├── schur_real.cpp │ │ │ ├── selfadjoint.cpp │ │ │ ├── simplicial_cholesky.cpp │ │ │ ├── sizeof.cpp │ │ │ ├── sizeoverflow.cpp │ │ │ ├── smallvectors.cpp │ │ │ ├── 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 │ │ │ ├── spqr_support.cpp │ │ │ ├── stable_norm.cpp │ │ │ ├── stddeque.cpp │ │ │ ├── stddeque_overload.cpp │ │ │ ├── stdlist.cpp │ │ │ ├── stdlist_overload.cpp │ │ │ ├── stdvector.cpp │ │ │ ├── stdvector_overload.cpp │ │ │ ├── superlu_support.cpp │ │ │ ├── svd_common.h │ │ │ ├── svd_fill.h │ │ │ ├── swap.cpp │ │ │ ├── triangular.cpp │ │ │ ├── umeyama.cpp │ │ │ ├── umfpack_support.cpp │ │ │ ├── unalignedassert.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 │ │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ │ ├── TensorChipping.h │ │ │ │ │ ├── TensorConcatenation.h │ │ │ │ │ ├── TensorContraction.h │ │ │ │ │ ├── TensorContractionBlocking.h │ │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ │ ├── TensorContractionMapper.h │ │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ │ ├── TensorConversion.h │ │ │ │ │ ├── TensorConvolution.h │ │ │ │ │ ├── TensorCostModel.h │ │ │ │ │ ├── TensorCustomOp.h │ │ │ │ │ ├── TensorDevice.h │ │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ │ ├── TensorDeviceDefault.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 │ │ │ │ │ ├── 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 │ │ │ │ │ ├── TensorReductionSycl.h │ │ │ │ │ ├── TensorRef.h │ │ │ │ │ ├── TensorReverse.h │ │ │ │ │ ├── TensorScan.h │ │ │ │ │ ├── TensorShuffling.h │ │ │ │ │ ├── TensorStorage.h │ │ │ │ │ ├── TensorStriding.h │ │ │ │ │ ├── TensorSycl.h │ │ │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ │ │ ├── TensorSyclExprConstructor.h │ │ │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ │ │ ├── TensorSyclLeafCount.h │ │ │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ │ │ ├── TensorSyclRun.h │ │ │ │ │ ├── TensorSyclTuple.h │ │ │ │ │ ├── TensorTraits.h │ │ │ │ │ ├── TensorUInt128.h │ │ │ │ │ └── TensorVolumePatch.h │ │ │ │ │ ├── TensorSymmetry │ │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ │ ├── StaticSymmetry.h │ │ │ │ │ ├── Symmetry.h │ │ │ │ │ └── util │ │ │ │ │ │ └── TemplateGroupTheory.h │ │ │ │ │ ├── ThreadPool │ │ │ │ │ ├── EventCount.h │ │ │ │ │ ├── NonBlockingThreadPool.h │ │ │ │ │ ├── RunQueue.h │ │ │ │ │ ├── SimpleThreadPool.h │ │ │ │ │ ├── ThreadEnvironment.h │ │ │ │ │ ├── ThreadLocal.h │ │ │ │ │ ├── ThreadPoolInterface.h │ │ │ │ │ └── ThreadYield.h │ │ │ │ │ └── util │ │ │ │ │ ├── CXX11Meta.h │ │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ │ ├── EmulateArray.h │ │ │ │ │ ├── EmulateCXX11Meta.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 │ │ │ │ ├── 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 │ │ │ │ ├── SpecialFunctionsArrayAPI.h │ │ │ │ ├── SpecialFunctionsFunctors.h │ │ │ │ ├── SpecialFunctionsHalf.h │ │ │ │ ├── SpecialFunctionsImpl.h │ │ │ │ ├── SpecialFunctionsPacketMath.h │ │ │ │ └── arch │ │ │ │ │ └── CUDA │ │ │ │ │ └── CudaSpecialFunctions.h │ │ │ │ └── Splines │ │ │ │ ├── Spline.h │ │ │ │ ├── SplineFitting.h │ │ │ │ └── SplineFwd.h │ │ │ ├── README.txt │ │ │ ├── bench │ │ │ └── bench_svd.cpp │ │ │ ├── doc │ │ │ ├── CMakeLists.txt │ │ │ ├── Overview.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 │ │ │ └── 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 │ │ │ ├── cxx11_eventcount.cpp │ │ │ ├── cxx11_meta.cpp │ │ │ ├── cxx11_non_blocking_thread_pool.cpp │ │ │ ├── cxx11_runqueue.cpp │ │ │ ├── cxx11_tensor_argmax.cpp │ │ │ ├── cxx11_tensor_argmax_cuda.cu │ │ │ ├── cxx11_tensor_assign.cpp │ │ │ ├── cxx11_tensor_broadcast_sycl.cpp │ │ │ ├── cxx11_tensor_broadcasting.cpp │ │ │ ├── cxx11_tensor_cast_float16_cuda.cu │ │ │ ├── cxx11_tensor_casts.cpp │ │ │ ├── cxx11_tensor_chipping.cpp │ │ │ ├── cxx11_tensor_comparisons.cpp │ │ │ ├── cxx11_tensor_complex_cuda.cu │ │ │ ├── cxx11_tensor_complex_cwise_ops_cuda.cu │ │ │ ├── cxx11_tensor_concatenation.cpp │ │ │ ├── cxx11_tensor_const.cpp │ │ │ ├── cxx11_tensor_contract_cuda.cu │ │ │ ├── cxx11_tensor_contraction.cpp │ │ │ ├── cxx11_tensor_convolution.cpp │ │ │ ├── cxx11_tensor_cuda.cu │ │ │ ├── cxx11_tensor_custom_index.cpp │ │ │ ├── cxx11_tensor_custom_op.cpp │ │ │ ├── cxx11_tensor_device.cu │ │ │ ├── cxx11_tensor_device_sycl.cpp │ │ │ ├── cxx11_tensor_dimension.cpp │ │ │ ├── cxx11_tensor_empty.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_ifft.cpp │ │ │ ├── cxx11_tensor_image_patch.cpp │ │ │ ├── cxx11_tensor_index_list.cpp │ │ │ ├── cxx11_tensor_inflation.cpp │ │ │ ├── cxx11_tensor_intdiv.cpp │ │ │ ├── cxx11_tensor_io.cpp │ │ │ ├── cxx11_tensor_layout_swap.cpp │ │ │ ├── cxx11_tensor_lvalue.cpp │ │ │ ├── cxx11_tensor_map.cpp │ │ │ ├── cxx11_tensor_math.cpp │ │ │ ├── cxx11_tensor_mixed_indices.cpp │ │ │ ├── cxx11_tensor_morphing.cpp │ │ │ ├── cxx11_tensor_notification.cpp │ │ │ ├── cxx11_tensor_of_complex.cpp │ │ │ ├── cxx11_tensor_of_const_values.cpp │ │ │ ├── cxx11_tensor_of_float16_cuda.cu │ │ │ ├── cxx11_tensor_of_strings.cpp │ │ │ ├── cxx11_tensor_padding.cpp │ │ │ ├── cxx11_tensor_patch.cpp │ │ │ ├── cxx11_tensor_random.cpp │ │ │ ├── cxx11_tensor_random_cuda.cu │ │ │ ├── cxx11_tensor_reduction.cpp │ │ │ ├── cxx11_tensor_reduction_cuda.cu │ │ │ ├── cxx11_tensor_reduction_sycl.cpp │ │ │ ├── cxx11_tensor_ref.cpp │ │ │ ├── cxx11_tensor_reverse.cpp │ │ │ ├── cxx11_tensor_roundings.cpp │ │ │ ├── cxx11_tensor_scan.cpp │ │ │ ├── cxx11_tensor_scan_cuda.cu │ │ │ ├── cxx11_tensor_shuffling.cpp │ │ │ ├── cxx11_tensor_simple.cpp │ │ │ ├── cxx11_tensor_striding.cpp │ │ │ ├── cxx11_tensor_sugar.cpp │ │ │ ├── cxx11_tensor_sycl.cpp │ │ │ ├── cxx11_tensor_symmetry.cpp │ │ │ ├── cxx11_tensor_thread_pool.cpp │ │ │ ├── cxx11_tensor_uint128.cpp │ │ │ ├── cxx11_tensor_volume_patch.cpp │ │ │ ├── dgmres.cpp │ │ │ ├── forward_adolc.cpp │ │ │ ├── gmres.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 │ │ │ └── mpreal.h │ │ │ ├── mpreal_support.cpp │ │ │ ├── openglsupport.cpp │ │ │ ├── polynomialsolver.cpp │ │ │ ├── polynomialutils.cpp │ │ │ ├── sparse_extra.cpp │ │ │ ├── special_functions.cpp │ │ │ └── splines.cpp │ ├── GeographicLib │ │ ├── 00README.txt │ │ ├── AUTHORS │ │ ├── CMakeLists.txt │ │ ├── INSTALL │ │ ├── LICENSE.txt │ │ ├── Makefile │ │ ├── Makefile.am │ │ ├── Makefile.in │ │ ├── Makefile.mk │ │ ├── NEWS │ │ ├── aclocal.m4 │ │ ├── cmake │ │ │ ├── CMakeLists.txt │ │ │ ├── FindGeographicLib.cmake │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── project-config-version.cmake.in │ │ │ └── project-config.cmake.in │ │ ├── config.guess │ │ ├── config.sub │ │ ├── configure │ │ ├── configure.ac │ │ ├── depcomp │ │ ├── doc │ │ │ ├── CMakeLists.txt │ │ │ ├── GeographicLib.dox │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── NETGeographicLib.dox │ │ │ ├── NETGeographicLib1.png │ │ │ ├── NETGeographicLib2.png │ │ │ ├── NETGeographicLib3.png │ │ │ ├── doxyfile-c.in │ │ │ ├── doxyfile-for.in │ │ │ ├── doxyfile-net.in │ │ │ ├── doxyfile.in │ │ │ ├── gauss-krueger-convergence-scale.png │ │ │ ├── gauss-krueger-error.png │ │ │ ├── gauss-krueger-graticule-a.png │ │ │ ├── gauss-krueger-graticule.png │ │ │ ├── gauss-schreiber-graticule-a.png │ │ │ ├── geodesic-c.dox │ │ │ ├── geodesic-for.dox │ │ │ ├── geodseries30.html │ │ │ ├── index.html.in │ │ │ ├── meridian-measures.png │ │ │ ├── scripts │ │ │ │ ├── GeographicLib │ │ │ │ │ ├── DMS.js │ │ │ │ │ ├── Geodesic.js │ │ │ │ │ ├── GeodesicLine.js │ │ │ │ │ ├── Interface.js │ │ │ │ │ ├── Math.js │ │ │ │ │ └── PolygonArea.js │ │ │ │ ├── geod-calc.html │ │ │ │ ├── geod-google-instructions.html │ │ │ │ └── geod-google.html │ │ │ ├── thompson-tm-graticule-a.png │ │ │ ├── thompson-tm-graticule.png │ │ │ ├── tmseries30.html │ │ │ └── utilities.html.in │ │ ├── dotnet │ │ │ ├── NETGeographicLib │ │ │ │ ├── Accumulator.cpp │ │ │ │ ├── Accumulator.h │ │ │ │ ├── AlbersEqualArea.cpp │ │ │ │ ├── AlbersEqualArea.h │ │ │ │ ├── AssemblyInfo.cpp │ │ │ │ ├── AzimuthalEquidistant.cpp │ │ │ │ ├── AzimuthalEquidistant.h │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CassiniSoldner.cpp │ │ │ │ ├── CassiniSoldner.h │ │ │ │ ├── CircularEngine.cpp │ │ │ │ ├── CircularEngine.h │ │ │ │ ├── DMS.cpp │ │ │ │ ├── DMS.h │ │ │ │ ├── Ellipsoid.cpp │ │ │ │ ├── Ellipsoid.h │ │ │ │ ├── EllipticFunction.cpp │ │ │ │ ├── EllipticFunction.h │ │ │ │ ├── GeoCoords.cpp │ │ │ │ ├── GeoCoords.h │ │ │ │ ├── Geocentric.cpp │ │ │ │ ├── Geocentric.h │ │ │ │ ├── Geodesic.cpp │ │ │ │ ├── Geodesic.h │ │ │ │ ├── GeodesicExact.cpp │ │ │ │ ├── GeodesicExact.h │ │ │ │ ├── GeodesicLine.cpp │ │ │ │ ├── GeodesicLine.h │ │ │ │ ├── GeodesicLineExact.cpp │ │ │ │ ├── GeodesicLineExact.h │ │ │ │ ├── Geohash.cpp │ │ │ │ ├── Geohash.h │ │ │ │ ├── Geoid.cpp │ │ │ │ ├── Geoid.h │ │ │ │ ├── Gnomonic.cpp │ │ │ │ ├── Gnomonic.h │ │ │ │ ├── GravityCircle.cpp │ │ │ │ ├── GravityCircle.h │ │ │ │ ├── GravityModel.cpp │ │ │ │ ├── GravityModel.h │ │ │ │ ├── LambertConformalConic.cpp │ │ │ │ ├── LambertConformalConic.h │ │ │ │ ├── LocalCartesian.cpp │ │ │ │ ├── LocalCartesian.h │ │ │ │ ├── MGRS.cpp │ │ │ │ ├── MGRS.h │ │ │ │ ├── MagneticCircle.cpp │ │ │ │ ├── MagneticCircle.h │ │ │ │ ├── MagneticModel.cpp │ │ │ │ ├── MagneticModel.h │ │ │ │ ├── NETGeographicLib.cpp │ │ │ │ ├── NETGeographicLib.h │ │ │ │ ├── NormalGravity.cpp │ │ │ │ ├── NormalGravity.h │ │ │ │ ├── OSGB.cpp │ │ │ │ ├── OSGB.h │ │ │ │ ├── PolarStereographic.cpp │ │ │ │ ├── PolarStereographic.h │ │ │ │ ├── PolygonArea.cpp │ │ │ │ ├── PolygonArea.h │ │ │ │ ├── ReadMe.txt │ │ │ │ ├── SphericalCoefficients.cpp │ │ │ │ ├── SphericalCoefficients.h │ │ │ │ ├── SphericalHarmonic.cpp │ │ │ │ ├── SphericalHarmonic.h │ │ │ │ ├── SphericalHarmonic1.cpp │ │ │ │ ├── SphericalHarmonic1.h │ │ │ │ ├── SphericalHarmonic2.cpp │ │ │ │ ├── SphericalHarmonic2.h │ │ │ │ ├── TransverseMercator.cpp │ │ │ │ ├── TransverseMercator.h │ │ │ │ ├── TransverseMercatorExact.cpp │ │ │ │ ├── TransverseMercatorExact.h │ │ │ │ ├── UTMUPS.cpp │ │ │ │ ├── UTMUPS.h │ │ │ │ ├── stdafx.cpp │ │ │ │ └── stdafx.h │ │ │ ├── Projections │ │ │ │ ├── AccumPanel.Designer.cs │ │ │ │ ├── AccumPanel.cs │ │ │ │ ├── AccumPanel.resx │ │ │ │ ├── AlbersPanel.Designer.cs │ │ │ │ ├── AlbersPanel.cs │ │ │ │ ├── AlbersPanel.resx │ │ │ │ ├── EllipsoidPanel.Designer.cs │ │ │ │ ├── EllipsoidPanel.cs │ │ │ │ ├── EllipsoidPanel.resx │ │ │ │ ├── EllipticPanel.Designer.cs │ │ │ │ ├── EllipticPanel.cs │ │ │ │ ├── EllipticPanel.resx │ │ │ │ ├── Form1.Designer.cs │ │ │ │ ├── Form1.cs │ │ │ │ ├── Form1.resx │ │ │ │ ├── GeocentricPanel.Designer.cs │ │ │ │ ├── GeocentricPanel.cs │ │ │ │ ├── GeocentricPanel.resx │ │ │ │ ├── GeodesicPanel.Designer.cs │ │ │ │ ├── GeodesicPanel.cs │ │ │ │ ├── GeodesicPanel.resx │ │ │ │ ├── GeoidPanel.Designer.cs │ │ │ │ ├── GeoidPanel.cs │ │ │ │ ├── GeoidPanel.resx │ │ │ │ ├── GravityPanel.Designer.cs │ │ │ │ ├── GravityPanel.cs │ │ │ │ ├── GravityPanel.resx │ │ │ │ ├── LocalCartesianPanel.Designer.cs │ │ │ │ ├── LocalCartesianPanel.cs │ │ │ │ ├── LocalCartesianPanel.resx │ │ │ │ ├── MagneticPanel.Designer.cs │ │ │ │ ├── MagneticPanel.cs │ │ │ │ ├── MagneticPanel.resx │ │ │ │ ├── MiscPanel.Designer.cs │ │ │ │ ├── MiscPanel.cs │ │ │ │ ├── MiscPanel.resx │ │ │ │ ├── PolarStereoPanel.Designer.cs │ │ │ │ ├── PolarStereoPanel.cs │ │ │ │ ├── PolarStereoPanel.resx │ │ │ │ ├── PolyPanel.Designer.cs │ │ │ │ ├── PolyPanel.cs │ │ │ │ ├── PolyPanel.resx │ │ │ │ ├── Program.cs │ │ │ │ ├── Projections.csproj │ │ │ │ ├── ProjectionsPanel.Designer.cs │ │ │ │ ├── ProjectionsPanel.cs │ │ │ │ ├── ProjectionsPanel.resx │ │ │ │ ├── Properties │ │ │ │ │ ├── AssemblyInfo.cs │ │ │ │ │ ├── Resources.Designer.cs │ │ │ │ │ ├── Resources.resx │ │ │ │ │ ├── Settings.Designer.cs │ │ │ │ │ └── Settings.settings │ │ │ │ ├── SphericalHarmonicsPanel.Designer.cs │ │ │ │ ├── SphericalHarmonicsPanel.cs │ │ │ │ ├── SphericalHarmonicsPanel.resx │ │ │ │ ├── TypeIIIProjPanel.Designer.cs │ │ │ │ ├── TypeIIIProjPanel.cs │ │ │ │ └── TypeIIIProjPanel.resx │ │ │ └── examples │ │ │ │ ├── CS │ │ │ │ ├── example-Accumulator.cs │ │ │ │ ├── example-AlbersEqualArea.cs │ │ │ │ ├── example-AzimuthalEquidistant.cs │ │ │ │ ├── example-CassiniSoldner.cs │ │ │ │ ├── example-CircularEngine.cs │ │ │ │ ├── example-DMS.cs │ │ │ │ ├── example-Ellipsoid.cs │ │ │ │ ├── example-EllipticFunction.cs │ │ │ │ ├── example-GeoCoords.cs │ │ │ │ ├── example-Geocentric.cs │ │ │ │ ├── example-Geodesic.cs │ │ │ │ ├── example-GeodesicExact.cs │ │ │ │ ├── example-GeodesicLine.cs │ │ │ │ ├── example-GeodesicLineExact.cs │ │ │ │ ├── example-Geohash.cs │ │ │ │ ├── example-Geoid.cs │ │ │ │ ├── example-Gnomonic.cs │ │ │ │ ├── example-GravityCircle.cs │ │ │ │ ├── example-GravityModel.cs │ │ │ │ ├── example-LambertConformalConic.cs │ │ │ │ ├── example-LocalCartesian.cs │ │ │ │ ├── example-MGRS.cs │ │ │ │ ├── example-MagneticCircle.cs │ │ │ │ ├── example-MagneticModel.cs │ │ │ │ ├── example-NormalGravity.cs │ │ │ │ ├── example-OSGB.cs │ │ │ │ ├── example-PolarStereographic.cs │ │ │ │ ├── example-PolygonArea.cs │ │ │ │ ├── example-SphericalHarmonic.cs │ │ │ │ ├── example-SphericalHarmonic1.cs │ │ │ │ ├── example-SphericalHarmonic2.cs │ │ │ │ ├── example-TransverseMercator.cs │ │ │ │ ├── example-TransverseMercatorExact.cs │ │ │ │ └── example-UTMUPS.cs │ │ │ │ ├── ManagedCPP │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── example-Accumulator.cpp │ │ │ │ ├── example-AlbersEqualArea.cpp │ │ │ │ ├── example-AzimuthalEquidistant.cpp │ │ │ │ ├── example-CassiniSoldner.cpp │ │ │ │ ├── example-CircularEngine.cpp │ │ │ │ ├── example-DMS.cpp │ │ │ │ ├── example-Ellipsoid.cpp │ │ │ │ ├── example-EllipticFunction.cpp │ │ │ │ ├── example-GeoCoords.cpp │ │ │ │ ├── example-Geocentric.cpp │ │ │ │ ├── example-Geodesic-small.cpp │ │ │ │ ├── example-Geodesic.cpp │ │ │ │ ├── example-GeodesicExact.cpp │ │ │ │ ├── example-GeodesicLine.cpp │ │ │ │ ├── example-GeodesicLineExact.cpp │ │ │ │ ├── example-Geohash.cpp │ │ │ │ ├── example-Geoid.cpp │ │ │ │ ├── example-Gnomonic.cpp │ │ │ │ ├── example-GravityCircle.cpp │ │ │ │ ├── example-GravityModel.cpp │ │ │ │ ├── example-LambertConformalConic.cpp │ │ │ │ ├── example-LocalCartesian.cpp │ │ │ │ ├── example-MGRS.cpp │ │ │ │ ├── example-MagneticCircle.cpp │ │ │ │ ├── example-MagneticModel.cpp │ │ │ │ ├── example-NormalGravity.cpp │ │ │ │ ├── example-OSGB.cpp │ │ │ │ ├── example-PolarStereographic.cpp │ │ │ │ ├── example-PolygonArea.cpp │ │ │ │ ├── example-SphericalHarmonic.cpp │ │ │ │ ├── example-SphericalHarmonic1.cpp │ │ │ │ ├── example-SphericalHarmonic2.cpp │ │ │ │ ├── example-TransverseMercator.cpp │ │ │ │ ├── example-TransverseMercatorExact.cpp │ │ │ │ └── example-UTMUPS.cpp │ │ │ │ └── VB │ │ │ │ ├── example-Accumulator.vb │ │ │ │ ├── example-AlbersEqualArea.vb │ │ │ │ ├── example-AzimuthalEquidistant.vb │ │ │ │ ├── example-CassiniSoldner.vb │ │ │ │ ├── example-CircularEngine.vb │ │ │ │ ├── example-DMS.vb │ │ │ │ ├── example-Ellipsoid.vb │ │ │ │ ├── example-EllipticFunction.vb │ │ │ │ ├── example-GeoCoords.vb │ │ │ │ ├── example-Geocentric.vb │ │ │ │ ├── example-Geodesic.vb │ │ │ │ ├── example-GeodesicExact.vb │ │ │ │ ├── example-GeodesicLine.vb │ │ │ │ ├── example-GeodesicLineExact.vb │ │ │ │ ├── example-Geohash.vb │ │ │ │ ├── example-Geoid.vb │ │ │ │ ├── example-Gnomonic.vb │ │ │ │ ├── example-GravityCircle.vb │ │ │ │ ├── example-GravityModel.vb │ │ │ │ ├── example-LambertConformalConic.vb │ │ │ │ ├── example-LocalCartesian.vb │ │ │ │ ├── example-MGRS.vb │ │ │ │ ├── example-MagneticCircle.vb │ │ │ │ ├── example-MagneticModel.vb │ │ │ │ ├── example-NormalGravity.vb │ │ │ │ ├── example-OSGB.vb │ │ │ │ ├── example-PolarStereographic.vb │ │ │ │ ├── example-PolygonArea.vb │ │ │ │ ├── example-SphericalHarmonic.vb │ │ │ │ ├── example-SphericalHarmonic1.vb │ │ │ │ ├── example-SphericalHarmonic2.vb │ │ │ │ ├── example-TransverseMercator.vb │ │ │ │ ├── example-TransverseMercatorExact.vb │ │ │ │ └── example-UTMUPS.vb │ │ ├── examples │ │ │ ├── CMakeLists.txt │ │ │ ├── GeoidToGTX.cpp │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── example-Accumulator.cpp │ │ │ ├── example-AlbersEqualArea.cpp │ │ │ ├── example-AzimuthalEquidistant.cpp │ │ │ ├── example-CassiniSoldner.cpp │ │ │ ├── example-CircularEngine.cpp │ │ │ ├── example-Constants.cpp │ │ │ ├── example-DMS.cpp │ │ │ ├── example-Ellipsoid.cpp │ │ │ ├── example-EllipticFunction.cpp │ │ │ ├── example-GeoCoords.cpp │ │ │ ├── example-Geocentric.cpp │ │ │ ├── example-Geodesic-small.cpp │ │ │ ├── example-Geodesic.cpp │ │ │ ├── example-GeodesicExact.cpp │ │ │ ├── example-GeodesicLine.cpp │ │ │ ├── example-GeodesicLineExact.cpp │ │ │ ├── example-GeographicErr.cpp │ │ │ ├── example-Geohash.cpp │ │ │ ├── example-Geoid.cpp │ │ │ ├── example-Gnomonic.cpp │ │ │ ├── example-GravityCircle.cpp │ │ │ ├── example-GravityModel.cpp │ │ │ ├── example-LambertConformalConic.cpp │ │ │ ├── example-LocalCartesian.cpp │ │ │ ├── example-MGRS.cpp │ │ │ ├── example-MagneticCircle.cpp │ │ │ ├── example-MagneticModel.cpp │ │ │ ├── example-Math.cpp │ │ │ ├── example-NormalGravity.cpp │ │ │ ├── example-OSGB.cpp │ │ │ ├── example-PolarStereographic.cpp │ │ │ ├── example-PolygonArea.cpp │ │ │ ├── example-SphericalEngine.cpp │ │ │ ├── example-SphericalHarmonic.cpp │ │ │ ├── example-SphericalHarmonic1.cpp │ │ │ ├── example-SphericalHarmonic2.cpp │ │ │ ├── example-TransverseMercator.cpp │ │ │ ├── example-TransverseMercatorExact.cpp │ │ │ ├── example-UTMUPS.cpp │ │ │ └── example-Utility.cpp │ │ ├── include │ │ │ ├── GeographicLib │ │ │ │ ├── Accumulator.hpp │ │ │ │ ├── AlbersEqualArea.hpp │ │ │ │ ├── AzimuthalEquidistant.hpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CassiniSoldner.hpp │ │ │ │ ├── CircularEngine.hpp │ │ │ │ ├── Config-ac.h.in │ │ │ │ ├── Config.h │ │ │ │ ├── Config.h.in │ │ │ │ ├── Constants.hpp │ │ │ │ ├── DMS.hpp │ │ │ │ ├── Ellipsoid.hpp │ │ │ │ ├── EllipticFunction.hpp │ │ │ │ ├── GeoCoords.hpp │ │ │ │ ├── Geocentric.hpp │ │ │ │ ├── Geodesic.hpp │ │ │ │ ├── GeodesicExact.hpp │ │ │ │ ├── GeodesicLine.hpp │ │ │ │ ├── GeodesicLineExact.hpp │ │ │ │ ├── Geohash.hpp │ │ │ │ ├── Geoid.hpp │ │ │ │ ├── Gnomonic.hpp │ │ │ │ ├── GravityCircle.hpp │ │ │ │ ├── GravityModel.hpp │ │ │ │ ├── LambertConformalConic.hpp │ │ │ │ ├── LocalCartesian.hpp │ │ │ │ ├── MGRS.hpp │ │ │ │ ├── MagneticCircle.hpp │ │ │ │ ├── MagneticModel.hpp │ │ │ │ ├── Math.hpp │ │ │ │ ├── NormalGravity.hpp │ │ │ │ ├── OSGB.hpp │ │ │ │ ├── PolarStereographic.hpp │ │ │ │ ├── PolygonArea.hpp │ │ │ │ ├── SphericalEngine.hpp │ │ │ │ ├── SphericalHarmonic.hpp │ │ │ │ ├── SphericalHarmonic1.hpp │ │ │ │ ├── SphericalHarmonic2.hpp │ │ │ │ ├── TransverseMercator.hpp │ │ │ │ ├── TransverseMercatorExact.hpp │ │ │ │ ├── UTMUPS.hpp │ │ │ │ └── Utility.hpp │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ └── Makefile.mk │ │ ├── install-sh │ │ ├── java │ │ │ ├── README.txt │ │ │ ├── direct │ │ │ │ ├── pom.xml │ │ │ │ └── src │ │ │ │ │ └── main │ │ │ │ │ └── java │ │ │ │ │ └── Direct.java │ │ │ ├── inverse │ │ │ │ ├── pom.xml │ │ │ │ └── src │ │ │ │ │ └── main │ │ │ │ │ └── java │ │ │ │ │ └── Inverse.java │ │ │ ├── planimeter │ │ │ │ ├── pom.xml │ │ │ │ └── src │ │ │ │ │ └── main │ │ │ │ │ └── java │ │ │ │ │ └── Planimeter.java │ │ │ ├── pom.xml │ │ │ └── src │ │ │ │ └── main │ │ │ │ └── java │ │ │ │ └── net │ │ │ │ └── sf │ │ │ │ └── geographiclib │ │ │ │ ├── Accumulator.java │ │ │ │ ├── Constants.java │ │ │ │ ├── GeoMath.java │ │ │ │ ├── Geodesic.java │ │ │ │ ├── GeodesicData.java │ │ │ │ ├── GeodesicLine.java │ │ │ │ ├── GeodesicMask.java │ │ │ │ ├── GeographicErr.java │ │ │ │ ├── Pair.java │ │ │ │ ├── PolygonArea.java │ │ │ │ ├── PolygonResult.java │ │ │ │ └── package-info.java │ │ ├── legacy │ │ │ ├── C │ │ │ │ ├── 00README.txt │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── direct.c │ │ │ │ ├── geodesic.c │ │ │ │ ├── geodesic.h │ │ │ │ ├── inverse.c │ │ │ │ └── planimeter.c │ │ │ └── Fortran │ │ │ │ ├── 00README.txt │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── geoddirect.for │ │ │ │ ├── geodesic.for │ │ │ │ ├── geodesic.inc │ │ │ │ ├── geodinverse.for │ │ │ │ └── planimeter.for │ │ ├── ltmain.sh │ │ ├── m4 │ │ │ ├── libtool.m4 │ │ │ ├── ltoptions.m4 │ │ │ ├── ltsugar.m4 │ │ │ ├── ltversion.m4 │ │ │ └── lt~obsolete.m4 │ │ ├── man │ │ │ ├── CMakeLists.txt │ │ │ ├── CartConvert.1 │ │ │ ├── CartConvert.1.html │ │ │ ├── CartConvert.pod │ │ │ ├── CartConvert.usage │ │ │ ├── ConicProj.1 │ │ │ ├── ConicProj.1.html │ │ │ ├── ConicProj.pod │ │ │ ├── ConicProj.usage │ │ │ ├── GeoConvert.1 │ │ │ ├── GeoConvert.1.html │ │ │ ├── GeoConvert.pod │ │ │ ├── GeoConvert.usage │ │ │ ├── GeodSolve.1 │ │ │ ├── GeodSolve.1.html │ │ │ ├── GeodSolve.pod │ │ │ ├── GeodSolve.usage │ │ │ ├── GeodesicProj.1 │ │ │ ├── GeodesicProj.1.html │ │ │ ├── GeodesicProj.pod │ │ │ ├── GeodesicProj.usage │ │ │ ├── GeoidEval.1 │ │ │ ├── GeoidEval.1.html │ │ │ ├── GeoidEval.pod │ │ │ ├── GeoidEval.usage │ │ │ ├── Gravity.1 │ │ │ ├── Gravity.1.html │ │ │ ├── Gravity.pod │ │ │ ├── Gravity.usage │ │ │ ├── MagneticField.1 │ │ │ ├── MagneticField.1.html │ │ │ ├── MagneticField.pod │ │ │ ├── MagneticField.usage │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── Planimeter.1 │ │ │ ├── Planimeter.1.html │ │ │ ├── Planimeter.pod │ │ │ ├── Planimeter.usage │ │ │ ├── TransverseMercatorProj.1 │ │ │ ├── TransverseMercatorProj.1.html │ │ │ ├── TransverseMercatorProj.pod │ │ │ ├── TransverseMercatorProj.usage │ │ │ ├── dummy.1.html.in │ │ │ ├── dummy.1.in │ │ │ ├── dummy.usage.in │ │ │ └── makeusage.sh │ │ ├── matlab │ │ │ ├── CMakeLists.txt │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── cassini_fwd.m │ │ │ ├── cassini_inv.m │ │ │ ├── defaultellipsoid.m │ │ │ ├── ecc2flat.m │ │ │ ├── eqdazim_fwd.m │ │ │ ├── eqdazim_inv.m │ │ │ ├── flat2ecc.m │ │ │ ├── geocentricforward.cpp │ │ │ ├── geocentricforward.m │ │ │ ├── geocentricreverse.cpp │ │ │ ├── geocentricreverse.m │ │ │ ├── geodarea.m │ │ │ ├── geoddistance.m │ │ │ ├── geoddoc.m │ │ │ ├── geodesicdirect.cpp │ │ │ ├── geodesicdirect.m │ │ │ ├── geodesicinverse.cpp │ │ │ ├── geodesicinverse.m │ │ │ ├── geodesicline.cpp │ │ │ ├── geodesicline.m │ │ │ ├── geodproj.m │ │ │ ├── geodreckon.m │ │ │ ├── geographiclibinterface.m │ │ │ ├── geoidheight.cpp │ │ │ ├── geoidheight.m │ │ │ ├── gnomonic_fwd.m │ │ │ ├── gnomonic_inv.m │ │ │ ├── localcartesianforward.cpp │ │ │ ├── localcartesianforward.m │ │ │ ├── localcartesianreverse.cpp │ │ │ ├── localcartesianreverse.m │ │ │ ├── mgrsforward.cpp │ │ │ ├── mgrsforward.m │ │ │ ├── mgrsreverse.cpp │ │ │ ├── mgrsreverse.m │ │ │ ├── polygonarea.cpp │ │ │ ├── polygonarea.m │ │ │ ├── private │ │ │ │ ├── A1m1f.m │ │ │ │ ├── A2m1f.m │ │ │ │ ├── A3coeff.m │ │ │ │ ├── A3f.m │ │ │ │ ├── AngDiff.m │ │ │ │ ├── AngNormalize.m │ │ │ │ ├── AngNormalize2.m │ │ │ │ ├── AngRound.m │ │ │ │ ├── C1f.m │ │ │ │ ├── C1pf.m │ │ │ │ ├── C2f.m │ │ │ │ ├── C3coeff.m │ │ │ │ ├── C3f.m │ │ │ │ ├── C4coeff.m │ │ │ │ ├── C4f.m │ │ │ │ ├── SinCosNorm.m │ │ │ │ ├── SinCosSeries.m │ │ │ │ ├── atanhee.m │ │ │ │ ├── cbrt.m │ │ │ │ ├── cvmgt.m │ │ │ │ ├── sumx.m │ │ │ │ └── swap.m │ │ │ ├── tranmerc_fwd.m │ │ │ ├── tranmerc_inv.m │ │ │ ├── utm_fwd.m │ │ │ ├── utm_inv.m │ │ │ ├── utmupsforward.cpp │ │ │ ├── utmupsforward.m │ │ │ ├── utmupsreverse.cpp │ │ │ └── utmupsreverse.m │ │ ├── maxima │ │ │ ├── Makefile.mk │ │ │ ├── ellint.mac │ │ │ ├── geod.mac │ │ │ ├── geodesic.mac │ │ │ ├── tm.mac │ │ │ └── tmseries.mac │ │ ├── missing │ │ ├── pom.xml │ │ ├── python │ │ │ ├── MANIFEST.in │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── README.txt │ │ │ ├── geographiclib │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── __init__.py │ │ │ │ ├── accumulator.py │ │ │ │ ├── constants.py │ │ │ │ ├── geodesic.py │ │ │ │ ├── geodesiccapability.py │ │ │ │ ├── geodesicline.py │ │ │ │ ├── geomath.py │ │ │ │ └── polygonarea.py │ │ │ └── setup.py │ │ ├── src │ │ │ ├── Accumulator.cpp │ │ │ ├── AlbersEqualArea.cpp │ │ │ ├── AzimuthalEquidistant.cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── CassiniSoldner.cpp │ │ │ ├── CircularEngine.cpp │ │ │ ├── DMS.cpp │ │ │ ├── Ellipsoid.cpp │ │ │ ├── EllipticFunction.cpp │ │ │ ├── GeoCoords.cpp │ │ │ ├── Geocentric.cpp │ │ │ ├── Geodesic.cpp │ │ │ ├── GeodesicExact.cpp │ │ │ ├── GeodesicLine.cpp │ │ │ ├── GeodesicLineExact.cpp │ │ │ ├── Geographic.pro │ │ │ ├── Geohash.cpp │ │ │ ├── Geoid.cpp │ │ │ ├── Gnomonic.cpp │ │ │ ├── GravityCircle.cpp │ │ │ ├── GravityModel.cpp │ │ │ ├── LambertConformalConic.cpp │ │ │ ├── LocalCartesian.cpp │ │ │ ├── MGRS.cpp │ │ │ ├── MagneticCircle.cpp │ │ │ ├── MagneticModel.cpp │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── NormalGravity.cpp │ │ │ ├── OSGB.cpp │ │ │ ├── PolarStereographic.cpp │ │ │ ├── PolygonArea.cpp │ │ │ ├── SphericalEngine.cpp │ │ │ ├── TransverseMercator.cpp │ │ │ ├── TransverseMercatorExact.cpp │ │ │ ├── UTMUPS.cpp │ │ │ └── Utility.cpp │ │ ├── tools │ │ │ ├── CMakeLists.txt │ │ │ ├── CartConvert.cpp │ │ │ ├── ConicProj.cpp │ │ │ ├── GeoConvert.cpp │ │ │ ├── GeodSolve.cpp │ │ │ ├── GeodesicProj.cpp │ │ │ ├── GeoidEval.cpp │ │ │ ├── Gravity.cpp │ │ │ ├── MagneticField.cpp │ │ │ ├── Makefile.am │ │ │ ├── Makefile.in │ │ │ ├── Makefile.mk │ │ │ ├── Planimeter.cpp │ │ │ ├── TransverseMercatorProj.cpp │ │ │ ├── geographiclib-get-geoids.sh │ │ │ ├── geographiclib-get-gravity.sh │ │ │ └── geographiclib-get-magnetic.sh │ │ └── windows │ │ │ ├── CartConvert-vc10.vcxproj │ │ │ ├── CartConvert-vc8.vcproj │ │ │ ├── CartConvert-vc9.vcproj │ │ │ ├── ConicProj-vc10.vcxproj │ │ │ ├── ConicProj-vc8.vcproj │ │ │ ├── ConicProj-vc9.vcproj │ │ │ ├── GeoConvert-vc10.vcxproj │ │ │ ├── GeoConvert-vc8.vcproj │ │ │ ├── GeoConvert-vc9.vcproj │ │ │ ├── GeodSolve-vc10.vcxproj │ │ │ ├── GeodSolve-vc8.vcproj │ │ │ ├── GeodSolve-vc9.vcproj │ │ │ ├── GeodesicProj-vc10.vcxproj │ │ │ ├── GeodesicProj-vc8.vcproj │ │ │ ├── GeodesicProj-vc9.vcproj │ │ │ ├── Geographic-vc10.vcxproj │ │ │ ├── Geographic-vc8.vcproj │ │ │ ├── Geographic-vc9.vcproj │ │ │ ├── GeographicLib-vc10.sln │ │ │ ├── GeographicLib-vc8.sln │ │ │ ├── GeographicLib-vc9.sln │ │ │ ├── GeoidEval-vc10.vcxproj │ │ │ ├── GeoidEval-vc8.vcproj │ │ │ ├── GeoidEval-vc9.vcproj │ │ │ ├── Gravity-vc10.vcxproj │ │ │ ├── Gravity-vc8.vcproj │ │ │ ├── Gravity-vc9.vcproj │ │ │ ├── MagneticField-vc10.vcxproj │ │ │ ├── MagneticField-vc8.vcproj │ │ │ ├── MagneticField-vc9.vcproj │ │ │ ├── NETGeographic-vc10.vcxproj │ │ │ ├── Planimeter-vc10.vcxproj │ │ │ ├── Planimeter-vc8.vcproj │ │ │ ├── Planimeter-vc9.vcproj │ │ │ ├── TransverseMercatorProj-vc10.vcxproj │ │ │ ├── TransverseMercatorProj-vc8.vcproj │ │ │ └── TransverseMercatorProj-vc9.vcproj │ ├── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ └── xerbla │ │ │ ├── Makefile │ │ │ ├── xerbla.c │ │ │ ├── xerbla.f │ │ │ └── xerbla.h │ ├── 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 │ ├── DSFVector.cpp │ ├── DSFVector.h │ ├── FastDefaultAllocator.h │ ├── FastList.h │ ├── FastMap.h │ ├── FastSet.h │ ├── FastVector.h │ ├── GenericValue.h │ ├── Group.h │ ├── Lie.h │ ├── LieMatrix.h │ ├── LieScalar.h │ ├── LieVector.h │ ├── Manifold.h │ ├── Matrix.cpp │ ├── Matrix.h │ ├── OptionalJacobian.h │ ├── ProductLieGroup.h │ ├── SymmetricBlockMatrix.cpp │ ├── SymmetricBlockMatrix.h │ ├── Testable.h │ ├── TestableAssertions.h │ ├── ThreadsafeException.h │ ├── Value.h │ ├── Vector.cpp │ ├── Vector.h │ ├── VectorSpace.h │ ├── VerticalBlockMatrix.cpp │ ├── VerticalBlockMatrix.h │ ├── chartTesting.h │ ├── cholesky.cpp │ ├── cholesky.h │ ├── concepts.h │ ├── debug.cpp │ ├── debug.h │ ├── deprecated │ │ ├── LieMatrix.h │ │ ├── LieScalar.h │ │ └── LieVector.h │ ├── lieProxies.h │ ├── numericalDerivative.h │ ├── serialization.h │ ├── serializationTestHelpers.h │ ├── testLie.h │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── testCholesky.cpp │ │ ├── testDSFVector.cpp │ │ ├── testDebug.cpp │ │ ├── testFastContainers.cpp │ │ ├── testGroup.cpp │ │ ├── testLieMatrix.cpp │ │ ├── testLieScalar.cpp │ │ ├── testLieVector.cpp │ │ ├── testMatrix.cpp │ │ ├── testNumericalDerivative.cpp │ │ ├── testOptionalJacobian.cpp │ │ ├── testSerializationBase.cpp │ │ ├── testSymmetricBlockMatrix.cpp │ │ ├── testTestableAssertions.cpp │ │ ├── testTreeTraversal.cpp │ │ ├── testVector.cpp │ │ └── testVerticalBlockMatrix.cpp │ ├── timing.cpp │ ├── timing.h │ ├── treeTraversal-inst.h │ ├── treeTraversal │ │ ├── parallelTraversalTasks.h │ │ └── statistics.h │ └── types.h ├── config.h.in ├── discrete │ ├── 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 │ ├── DiscreteEliminationTree.cpp │ ├── DiscreteEliminationTree.h │ ├── DiscreteFactor.cpp │ ├── DiscreteFactor.h │ ├── DiscreteFactorGraph.cpp │ ├── DiscreteFactorGraph.h │ ├── DiscreteJunctionTree.cpp │ ├── DiscreteJunctionTree.h │ ├── DiscreteKey.cpp │ ├── DiscreteKey.h │ ├── DiscreteMarginals.h │ ├── Potentials.cpp │ ├── Potentials.h │ ├── Signature.cpp │ ├── Signature.h │ └── tests │ │ ├── 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 │ │ ├── testDiscreteConditional.cpp │ │ ├── testDiscreteFactor.cpp │ │ ├── testDiscreteFactorGraph.cpp │ │ ├── testDiscreteMarginals.cpp │ │ └── testSignature.cpp ├── geometry │ ├── BearingRange.h │ ├── CMakeLists.txt │ ├── Cal3Bundler.cpp │ ├── Cal3Bundler.h │ ├── Cal3DS2.cpp │ ├── Cal3DS2.h │ ├── Cal3DS2_Base.cpp │ ├── Cal3DS2_Base.h │ ├── Cal3Unified.cpp │ ├── Cal3Unified.h │ ├── Cal3_S2.cpp │ ├── Cal3_S2.h │ ├── Cal3_S2Stereo.cpp │ ├── Cal3_S2Stereo.h │ ├── CalibratedCamera.cpp │ ├── CalibratedCamera.h │ ├── CameraSet.h │ ├── Cyclic.cpp │ ├── Cyclic.h │ ├── EssentialMatrix.cpp │ ├── EssentialMatrix.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 │ ├── SO3.cpp │ ├── SO3.h │ ├── SimpleCamera.cpp │ ├── SimpleCamera.h │ ├── StereoCamera.cpp │ ├── StereoCamera.h │ ├── StereoPoint2.cpp │ ├── StereoPoint2.h │ ├── Unit3.cpp │ ├── Unit3.h │ ├── concepts.h │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingRange.cpp │ │ ├── testCal3Bundler.cpp │ │ ├── testCal3DS2.cpp │ │ ├── testCal3Unified.cpp │ │ ├── testCal3_S2.cpp │ │ ├── testCalibratedCamera.cpp │ │ ├── testCameraSet.cpp │ │ ├── testCyclic.cpp │ │ ├── testEssentialMatrix.cpp │ │ ├── testOrientedPlane3.cpp │ │ ├── testPinholeCamera.cpp │ │ ├── testPinholePose.cpp │ │ ├── testPinholeSet.cpp │ │ ├── testPoint2.cpp │ │ ├── testPoint3.cpp │ │ ├── testPose2.cpp │ │ ├── testPose3.cpp │ │ ├── testQuaternion.cpp │ │ ├── testRot2.cpp │ │ ├── testRot3.cpp │ │ ├── testRot3M.cpp │ │ ├── testRot3Q.cpp │ │ ├── testSO3.cpp │ │ ├── testSerializationGeometry.cpp │ │ ├── testSimpleCamera.cpp │ │ ├── testStereoCamera.cpp │ │ ├── testStereoPoint2.cpp │ │ ├── testTriangulation.cpp │ │ └── testUnit3.cpp │ ├── triangulation.cpp │ └── triangulation.h ├── global_includes.h ├── groups.dox ├── 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 │ ├── 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 │ ├── graph-inl.h │ ├── graph.h │ ├── inference-inst.h │ ├── inferenceExceptions.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testKey.cpp │ │ ├── testLabeledSymbol.cpp │ │ ├── testOrdering.cpp │ │ └── testVariableSlots.cpp ├── linear │ ├── 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.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 │ ├── NoiseModel.cpp │ ├── NoiseModel.h │ ├── PCGSolver.cpp │ ├── PCGSolver.h │ ├── Preconditioner.cpp │ ├── Preconditioner.h │ ├── RegularHessianFactor.h │ ├── RegularJacobianFactor.h │ ├── Sampler.cpp │ ├── Sampler.h │ ├── Scatter.cpp │ ├── Scatter.h │ ├── SubgraphPreconditioner.cpp │ ├── SubgraphPreconditioner.h │ ├── SubgraphSolver.cpp │ ├── SubgraphSolver.h │ ├── VectorValues.cpp │ ├── VectorValues.h │ ├── iterative-inl.h │ ├── iterative.cpp │ ├── iterative.h │ ├── linearAlgorithms-inst.h │ ├── linearExceptions.cpp │ ├── linearExceptions.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testErrors.cpp │ │ ├── testGaussianBayesNet.cpp │ │ ├── testGaussianBayesTree.cpp │ │ ├── testGaussianConditional.cpp │ │ ├── testGaussianDensity.cpp │ │ ├── testGaussianFactorGraph.cpp │ │ ├── testHessianFactor.cpp │ │ ├── testJacobianFactor.cpp │ │ ├── testKalmanFilter.cpp │ │ ├── testNoiseModel.cpp │ │ ├── testRegularHessianFactor.cpp │ │ ├── testRegularJacobianFactor.cpp │ │ ├── testSampler.cpp │ │ ├── testScatter.cpp │ │ ├── testSerializationLinear.cpp │ │ └── testVectorValues.cpp ├── mainpage.dox ├── navigation │ ├── .gitignore │ ├── AHRSFactor.cpp │ ├── AHRSFactor.h │ ├── AttitudeFactor.cpp │ ├── AttitudeFactor.h │ ├── CMakeLists.txt │ ├── CombinedImuFactor.cpp │ ├── CombinedImuFactor.h │ ├── GPSFactor.cpp │ ├── GPSFactor.h │ ├── ImuBias.cpp │ ├── ImuBias.h │ ├── ImuFactor.cpp │ ├── ImuFactor.h │ ├── MagFactor.h │ ├── ManifoldPreintegration.cpp │ ├── ManifoldPreintegration.h │ ├── NavState.cpp │ ├── NavState.h │ ├── PreintegratedRotation.cpp │ ├── PreintegratedRotation.h │ ├── PreintegrationBase.cpp │ ├── PreintegrationBase.h │ ├── PreintegrationParams.cpp │ ├── PreintegrationParams.h │ ├── Scenario.h │ ├── ScenarioRunner.cpp │ ├── ScenarioRunner.h │ ├── TangentPreintegration.cpp │ ├── TangentPreintegration.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── imuFactorTesting.h │ │ ├── testAHRSFactor.cpp │ │ ├── testAttitudeFactor.cpp │ │ ├── testCombinedImuFactor.cpp │ │ ├── testGPSFactor.cpp │ │ ├── testGeographicLib.cpp │ │ ├── testImuBias.cpp │ │ ├── testImuFactor.cpp │ │ ├── testImuFactorSerialization.cpp │ │ ├── testMagFactor.cpp │ │ ├── testManifoldPreintegration.cpp │ │ ├── testNavState.cpp │ │ ├── testPoseVelocityBias.cpp │ │ ├── testScenario.cpp │ │ ├── testScenarios.cpp │ │ └── testTangentPreintegration.cpp ├── nonlinear │ ├── AdaptAutoDiff.h │ ├── CMakeLists.txt │ ├── DoglegOptimizer.cpp │ ├── DoglegOptimizer.h │ ├── DoglegOptimizerImpl.cpp │ ├── DoglegOptimizerImpl.h │ ├── Expression-inl.h │ ├── Expression.h │ ├── ExpressionFactor.h │ ├── ExpressionFactorGraph.h │ ├── ExtendedKalmanFilter-inl.h │ ├── ExtendedKalmanFilter.h │ ├── GaussNewtonOptimizer.cpp │ ├── GaussNewtonOptimizer.h │ ├── ISAM2-impl.cpp │ ├── ISAM2-impl.h │ ├── ISAM2.cpp │ ├── ISAM2.h │ ├── ISAM2Clique.cpp │ ├── ISAM2Clique.h │ ├── ISAM2Params.cpp │ ├── ISAM2Params.h │ ├── ISAM2Result.h │ ├── LevenbergMarquardtOptimizer.cpp │ ├── LevenbergMarquardtOptimizer.h │ ├── LevenbergMarquardtParams.cpp │ ├── LevenbergMarquardtParams.h │ ├── LinearContainerFactor.cpp │ ├── LinearContainerFactor.h │ ├── Marginals.cpp │ ├── Marginals.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 │ ├── Symbol.h │ ├── Values-inl.h │ ├── Values.cpp │ ├── Values.h │ ├── WhiteNoiseFactor.h │ ├── expressionTesting.h │ ├── expressions.h │ ├── factorTesting.h │ ├── internal │ │ ├── CallRecord.h │ │ ├── ExecutionTrace.h │ │ ├── ExpressionNode.h │ │ ├── JacobianMap.h │ │ ├── LevenbergMarquardtState.h │ │ └── NonlinearOptimizerState.h │ ├── nonlinearExceptions.h │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── testAdaptAutoDiff.cpp │ │ ├── testCallRecord.cpp │ │ ├── testExecutionTrace.cpp │ │ ├── testExpression.cpp │ │ ├── testLinearContainerFactor.cpp │ │ ├── testSerializationNonlinear.cpp │ │ ├── testValues.cpp │ │ └── testWhiteNoiseFactor.cpp │ └── utilities.h ├── precompiled_header.cpp ├── precompiled_header.h ├── sam │ ├── BearingFactor.h │ ├── BearingRangeFactor.h │ ├── CMakeLists.txt │ ├── RangeFactor.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingFactor.cpp │ │ ├── testBearingRangeFactor.cpp │ │ └── testRangeFactor.cpp ├── sfm │ ├── CMakeLists.txt │ └── tests │ │ └── CMakeLists.txt ├── slam │ ├── AntiFactor.h │ ├── BearingFactor.h │ ├── BearingRangeFactor.h │ ├── BetweenFactor.h │ ├── BoundingConstraint.h │ ├── CMakeLists.txt │ ├── EssentialMatrixConstraint.cpp │ ├── EssentialMatrixConstraint.h │ ├── EssentialMatrixFactor.h │ ├── GeneralSFMFactor.h │ ├── InitializePose3.cpp │ ├── InitializePose3.h │ ├── JacobianFactorQ.h │ ├── JacobianFactorQR.h │ ├── JacobianFactorSVD.h │ ├── OrientedPlane3Factor.cpp │ ├── OrientedPlane3Factor.h │ ├── PoseRotationPrior.h │ ├── PoseTranslationPrior.h │ ├── PriorFactor.h │ ├── ProjectionFactor.h │ ├── ProjectionFactorCalibrationFull.h │ ├── ProjectionFactorCalibrationRotationOnly.h │ ├── ProjectionFactorCalibrationWithTranslation.h │ ├── RangeFactor.h │ ├── ReferenceFrameFactor.h │ ├── RegularImplicitSchurFactor.h │ ├── RotateFactor.h │ ├── SmartFactorBase.h │ ├── SmartFactorParams.h │ ├── SmartProjectionFactor.h │ ├── SmartProjectionPoseFactor.h │ ├── StereoFactor.h │ ├── TriangulationFactor.h │ ├── dataset.cpp │ ├── dataset.h │ ├── expressions.h │ ├── lago.cpp │ ├── lago.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── smartFactorScenarios.h │ │ ├── testAntiFactor.cpp │ │ ├── testBetweenFactor.cpp │ │ ├── testDataset.cpp │ │ ├── testEssentialMatrixConstraint.cpp │ │ ├── testEssentialMatrixFactor.cpp │ │ ├── testGeneralSFMFactor.cpp │ │ ├── testGeneralSFMFactor_Cal3Bundler.cpp │ │ ├── testInitializePose3.cpp │ │ ├── testLago.cpp │ │ ├── testOrientedPlane3Factor.cpp │ │ ├── testPoseRotationPrior.cpp │ │ ├── testPoseTranslationPrior.cpp │ │ ├── testPriorFactor.cpp │ │ ├── testProjectionFactor.cpp │ │ ├── testReferenceFrameFactor.cpp │ │ ├── testRegularImplicitSchurFactor.cpp │ │ ├── testRotateFactor.cpp │ │ ├── testSlamExpressions.cpp │ │ ├── testSmartFactorBase.cpp │ │ ├── testSmartProjectionCameraFactor.cpp │ │ ├── testSmartProjectionPoseFactor.cpp │ │ ├── testStereoFactor.cpp │ │ └── testTriangulationFactor.cpp ├── smart │ ├── CMakeLists.txt │ └── tests │ │ └── CMakeLists.txt └── 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 │ └── 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 │ ├── DSFMap.h │ ├── Dummy.cpp │ ├── Dummy.h │ ├── FixedVector.h │ ├── dllexport.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBTree.cpp │ │ ├── testDSF.cpp │ │ ├── testDSFMap.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 │ │ ├── testPlanning.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 │ ├── FixedLagSmootherExample.cpp │ ├── README │ ├── SmartProjectionFactorExample.cpp │ ├── SmartRangeExample_plaza1.cpp │ ├── SmartRangeExample_plaza2.cpp │ ├── SmartStereoProjectionFactorExample.cpp │ └── plotRangeResults.p ├── geometry │ ├── BearingS2.cpp │ ├── BearingS2.h │ ├── CMakeLists.txt │ ├── Event.cpp │ ├── Event.h │ ├── InvDepthCamera3.h │ ├── Pose3Upright.cpp │ ├── Pose3Upright.h │ ├── SimPolygon2D.cpp │ ├── SimPolygon2D.h │ ├── SimWall2D.cpp │ ├── SimWall2D.h │ ├── Similarity3.cpp │ ├── Similarity3.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBearingS2.cpp │ │ ├── testEvent.cpp │ │ ├── testInvDepthCamera3.cpp │ │ ├── testPose3Upright.cpp │ │ ├── testSimPolygon2D.cpp │ │ ├── testSimWall2D.cpp │ │ └── testSimilarity3.cpp ├── gtsam_unstable.h ├── 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 │ ├── RawQP.cpp │ ├── RawQP.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testLPSolver.cpp │ │ ├── testLinearEquality.cpp │ │ └── testQPSolver.cpp ├── mainpage.dox ├── nonlinear │ ├── BatchFixedLagSmoother.cpp │ ├── BatchFixedLagSmoother.h │ ├── CMakeLists.txt │ ├── ConcurrentBatchFilter.cpp │ ├── ConcurrentBatchFilter.h │ ├── ConcurrentBatchSmoother.cpp │ ├── ConcurrentBatchSmoother.h │ ├── ConcurrentFilteringAndSmoothing.cpp │ ├── ConcurrentFilteringAndSmoothing.h │ ├── ConcurrentIncrementalFilter.cpp │ ├── ConcurrentIncrementalFilter.h │ ├── ConcurrentIncrementalSmoother.cpp │ ├── ConcurrentIncrementalSmoother.h │ ├── FixedLagSmoother.cpp │ ├── FixedLagSmoother.h │ ├── IncrementalFixedLagSmoother.cpp │ ├── IncrementalFixedLagSmoother.h │ ├── LinearizedFactor.cpp │ ├── LinearizedFactor.h │ ├── NonlinearClusterTree.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBatchFixedLagSmoother.cpp │ │ ├── testConcurrentBatchFilter.cpp │ │ ├── testConcurrentBatchSmoother.cpp │ │ ├── testConcurrentIncrementalFilter.cpp │ │ ├── testConcurrentIncrementalSmootherDL.cpp │ │ ├── testConcurrentIncrementalSmootherGN.cpp │ │ ├── testCustomChartExpression.cpp │ │ ├── testIncrementalFixedLagSmoother.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 │ ├── Mechanization_bRn2.cpp │ ├── Mechanization_bRn2.h │ ├── MultiProjectionFactor.h │ ├── PartialPriorFactor.h │ ├── PoseBetweenFactor.h │ ├── PosePriorFactor.h │ ├── ProjectionFactorPPP.h │ ├── ProjectionFactorPPPC.h │ ├── RelativeElevationFactor.cpp │ ├── RelativeElevationFactor.h │ ├── SmartRangeFactor.h │ ├── SmartStereoProjectionFactor.h │ ├── 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 │ │ ├── testMultiProjectionFactor.cpp │ │ ├── testOccupancyGrid.cpp │ │ ├── testPoseBetweenFactor.cpp │ │ ├── testPosePriorFactor.cpp │ │ ├── testProjectionFactorPPP.cpp │ │ ├── testProjectionFactorPPPC.cpp │ │ ├── testRelativeElevationFactor.cpp │ │ ├── testSerialization.cpp │ │ ├── testSmartRangeFactor.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 │ ├── timeDSFvariants.cpp │ ├── timeDSFvariants.xlsx │ ├── timeDSFvariants2.xlsx │ └── timeInertialNavFactor_GlobalVelocity.cpp ├── gtsampy.h ├── makestats.sh ├── matlab ├── +gtsam │ ├── CHECK.m │ ├── Contents.m │ ├── EQUALITY.m │ ├── EXPECT.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-gtsam-toolbox.txt ├── 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 │ ├── deg2utm.m │ ├── gtsamExamples.fig │ └── gtsamExamples.m ├── gtsam_tests │ ├── .gitignore │ ├── testCal3Unified.m │ ├── testJacobianFactor.m │ ├── testKalmanFilter.m │ ├── testLocalizationExample.m │ ├── testOdometryExample.m │ ├── testPlanarSLAMExample.m │ ├── testPose2SLAMExample.m │ ├── testPose3SLAMExample.m │ ├── testPriorFactor.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 ├── package.xml ├── package_scripts ├── compile_static_boost.sh └── toolbox_package_unix.sh ├── plot_error.py ├── python ├── .gitignore ├── CMakeLists.txt ├── README.md ├── gtsam │ └── __init__.py ├── gtsam_examples │ ├── ImuFactorExample.py │ ├── OdometryExample.py │ ├── Pose2SLAMExample.py │ ├── PreintegrationExample.py │ ├── SFMdata.py │ ├── VisualISAM2Example.py │ └── __init__.py ├── gtsam_tests │ ├── __init__.py │ ├── testPoint2.py │ ├── testScenario.py │ └── testScenarioRunner.py ├── gtsam_utils │ ├── __init__.py │ └── plot.py ├── handwritten │ ├── CMakeLists.txt │ ├── base │ │ └── FastVector.cpp │ ├── common.h │ ├── exportgtsam.cpp │ ├── geometry │ │ ├── Cal3_S2.cpp │ │ ├── PinholeBaseK.cpp │ │ ├── PinholeCamera.cpp │ │ ├── Point2.cpp │ │ ├── Point3.cpp │ │ ├── Pose2.cpp │ │ ├── Pose3.cpp │ │ ├── Rot2.cpp │ │ ├── Rot3.cpp │ │ └── export_geometry.cpp │ ├── inference │ │ └── Symbol.cpp │ ├── linear │ │ └── NoiseModel.cpp │ ├── navigation │ │ ├── ImuFactor.cpp │ │ └── Scenario.cpp │ ├── nonlinear │ │ ├── ISAM2.cpp │ │ ├── LevenbergMarquardtOptimizer.cpp │ │ ├── NonlinearFactor.cpp │ │ ├── NonlinearFactorGraph.cpp │ │ └── Values.cpp │ ├── slam │ │ ├── BearingFactor.cpp │ │ ├── BetweenFactor.cpp │ │ ├── GenericProjectionFactor.cpp │ │ ├── PriorFactor.cpp │ │ └── export_slam.cpp │ └── utils │ │ └── NumpyEigen.cpp ├── include │ └── numpy_eigen │ │ ├── NumpyEigenConverter.hpp │ │ ├── README.md │ │ ├── boost_python_headers.hpp │ │ ├── copy_routines.hpp │ │ └── type_traits.hpp └── setup.py.in ├── tests ├── CMakeLists.txt ├── 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 ├── testGradientDescentOptimizer.cpp ├── testGraph.cpp ├── testIterative.cpp ├── testLie.cpp ├── testManifold.cpp ├── testMarginals.cpp ├── testNonlinearEquality.cpp ├── testNonlinearFactor.cpp ├── testNonlinearFactorGraph.cpp ├── testNonlinearISAM.cpp ├── testNonlinearOptimizer.cpp ├── testPCGSolver.cpp ├── testPreconditioner.cpp ├── testRot3Optimization.cpp ├── testSerializationSLAM.cpp ├── testSimulated2D.cpp ├── testSimulated2DOriented.cpp ├── testSimulated3D.cpp ├── testSubgraphPreconditioner.cpp ├── testSubgraphSolver.cpp └── testVisualISAM2.cpp ├── timing ├── CMakeLists.txt ├── DummyFactor.h ├── timeAdaptAutoDiff.cpp ├── timeBatch.cpp ├── timeCalibratedCamera.cpp ├── timeCameraExpression.cpp ├── timeCholesky.cpp ├── timeFactorOverhead.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 ├── timeStereoCamera.cpp ├── timeTest.cpp ├── timeVirtual.cpp ├── timeVirtual2.cpp └── timeiSAM2Chain.cpp └── wrap ├── Argument.cpp ├── Argument.h ├── CMakeLists.txt ├── Class.cpp ├── Class.h ├── Constructor.cpp ├── Constructor.h ├── Deconstructor.cpp ├── Deconstructor.h ├── FileWriter.cpp ├── FileWriter.h ├── ForwardDeclaration.h ├── FullyOverloadedFunction.cpp ├── FullyOverloadedFunction.h ├── Function.cpp ├── Function.h ├── GlobalFunction.cpp ├── GlobalFunction.h ├── Method.cpp ├── Method.h ├── MethodBase.cpp ├── MethodBase.h ├── Module.cpp ├── Module.h ├── OverloadedFunction.h ├── Qualified.cpp ├── Qualified.h ├── README ├── ReturnType.cpp ├── ReturnType.h ├── ReturnValue.cpp ├── ReturnValue.h ├── StaticMethod.cpp ├── StaticMethod.h ├── Template.h ├── TemplateInstantiationTypedef.cpp ├── TemplateInstantiationTypedef.h ├── TemplateMethod.cpp ├── TemplateMethod.h ├── TemplateSubstitution.h ├── TypeAttributesTable.cpp ├── TypeAttributesTable.h ├── TypedefPair.h ├── matlab.h ├── spirit.h ├── tests ├── CMakeLists.txt ├── expected-cython │ ├── geometry.pxd │ └── geometry.pyx ├── expected-python │ └── geometry_python.cpp ├── expected │ ├── +gtsam │ │ ├── Point2.m │ │ └── Point3.m │ ├── .gitignore │ ├── MyBase.m │ ├── MyFactorPosePoint2.m │ ├── MyTemplateMatrix.m │ ├── MyTemplatePoint2.m │ ├── MyVector12.m │ ├── MyVector3.m │ ├── Point2.m │ ├── Point3.m │ ├── Test.m │ ├── aGlobalFunction.m │ ├── geometry_wrapper.cpp │ └── overloadedGlobalFunction.m ├── expected2 │ ├── 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