Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3
Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d
diff --git a/Eigen/Geometry b/Eigen/Geometry
index efd9d45..716d529 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
#ifndef EIGEN_GEOMETRY_MODULE_H
#define EIGEN_GEOMETRY_MODULE_H
@@ -9,21 +16,17 @@
#include "LU"
#include <limits>
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
/** \defgroup Geometry_Module Geometry module
*
- *
- *
* This module provides support for:
* - fixed-size homogeneous transformations
* - translation, scaling, 2D and 3D rotations
- * - quaternions
- * - \ref MatrixBase::cross() "cross product"
- * - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
- * - some linear components: parametrized-lines and hyperplanes
+ * - \link Quaternion quaternions \endlink
+ * - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
+ * - orthognal vector generation (\ref MatrixBase::unitOrthogonal)
+ * - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
+ * - \link AlignedBox axis aligned bounding boxes \endlink
+ * - \link umeyama least-square transformation fitting \endlink
*
* \code
* #include <Eigen/Geometry>
@@ -33,27 +36,23 @@
#include "src/Geometry/OrthoMethods.h"
#include "src/Geometry/EulerAngles.h"
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
- #include "src/Geometry/Homogeneous.h"
- #include "src/Geometry/RotationBase.h"
- #include "src/Geometry/Rotation2D.h"
- #include "src/Geometry/Quaternion.h"
- #include "src/Geometry/AngleAxis.h"
- #include "src/Geometry/Transform.h"
- #include "src/Geometry/Translation.h"
- #include "src/Geometry/Scaling.h"
- #include "src/Geometry/Hyperplane.h"
- #include "src/Geometry/ParametrizedLine.h"
- #include "src/Geometry/AlignedBox.h"
- #include "src/Geometry/Umeyama.h"
+#include "src/Geometry/Homogeneous.h"
+#include "src/Geometry/RotationBase.h"
+#include "src/Geometry/Rotation2D.h"
+#include "src/Geometry/Quaternion.h"
+#include "src/Geometry/AngleAxis.h"
+#include "src/Geometry/Transform.h"
+#include "src/Geometry/Translation.h"
+#include "src/Geometry/Scaling.h"
+#include "src/Geometry/Hyperplane.h"
+#include "src/Geometry/ParametrizedLine.h"
+#include "src/Geometry/AlignedBox.h"
+#include "src/Geometry/Umeyama.h"
- #if defined EIGEN_VECTORIZE_SSE
- #include "src/Geometry/arch/Geometry_SSE.h"
- #endif
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/Geometry/All.h"
+// Use the SSE optimized version whenever possible. At the moment the
+// SSE version doesn't compile when AVX is enabled
+#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
+#include "src/Geometry/arch/Geometry_SSE.h"
#endif
#include "src/Core/util/ReenableStupidWarnings.h"