Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3


Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d
diff --git a/unsupported/doc/examples/BVH_Example.cpp b/unsupported/doc/examples/BVH_Example.cpp
index 6b6fac0..afb0c94 100644
--- a/unsupported/doc/examples/BVH_Example.cpp
+++ b/unsupported/doc/examples/BVH_Example.cpp
@@ -6,9 +6,7 @@
 typedef AlignedBox<double, 2> Box2d;
 
 namespace Eigen {
-    namespace internal {
-        Box2d bounding_box(const Vector2d &v) { return Box2d(v, v); } //compute the bounding box of a single point
-    }
+  Box2d bounding_box(const Vector2d &v) { return Box2d(v, v); } //compute the bounding box of a single point
 }
 
 struct PointPointMinimizer //how to compute squared distances between points and rectangles
diff --git a/unsupported/doc/examples/EulerAngles.cpp b/unsupported/doc/examples/EulerAngles.cpp
new file mode 100644
index 0000000..1ef6aee
--- /dev/null
+++ b/unsupported/doc/examples/EulerAngles.cpp
@@ -0,0 +1,46 @@
+#include <unsupported/Eigen/EulerAngles>
+#include <iostream>
+
+using namespace Eigen;
+
+int main()
+{
+  // A common Euler system by many armies around the world,
+  //  where the first one is the azimuth(the angle from the north -
+  //   the same angle that is show in compass)
+  //  and the second one is elevation(the angle from the horizon)
+  //  and the third one is roll(the angle between the horizontal body
+  //   direction and the plane ground surface)
+  // Keep remembering we're using radian angles here!
+  typedef EulerSystem<-EULER_Z, EULER_Y, EULER_X> MyArmySystem;
+  typedef EulerAngles<double, MyArmySystem> MyArmyAngles;
+  
+  MyArmyAngles vehicleAngles(
+    3.14/*PI*/ / 2, /* heading to east, notice that this angle is counter-clockwise */
+    -0.3, /* going down from a mountain */
+    0.1); /* slightly rolled to the right */
+  
+  // Some Euler angles representation that our plane use.
+  EulerAnglesZYZd planeAngles(0.78474, 0.5271, -0.513794);
+  
+  MyArmyAngles planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeAngles);
+  
+  std::cout << "vehicle angles(MyArmy):     " << vehicleAngles << std::endl;
+  std::cout << "plane angles(ZYZ):        " << planeAngles << std::endl;
+  std::cout << "plane angles(MyArmy):     " << planeAnglesInMyArmyAngles << std::endl;
+  
+  // Now lets rotate the plane a little bit
+  std::cout << "==========================================================\n";
+  std::cout << "rotating plane now!\n";
+  std::cout << "==========================================================\n";
+  
+  Quaterniond planeRotated = AngleAxisd(-0.342, Vector3d::UnitY()) * planeAngles;
+  
+  planeAngles = planeRotated;
+  planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeRotated);
+  
+  std::cout << "new plane angles(ZYZ):     " << planeAngles << std::endl;
+  std::cout << "new plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl;
+  
+  return 0;
+}
diff --git a/unsupported/doc/examples/FFT.cpp b/unsupported/doc/examples/FFT.cpp
index fcbf812..85e8a02 100644
--- a/unsupported/doc/examples/FFT.cpp
+++ b/unsupported/doc/examples/FFT.cpp
@@ -61,14 +61,14 @@
 void RandomFill(std::vector<T> & vec)
 {
     for (size_t k=0;k<vec.size();++k)
-        vec[k] = T( rand() )/T(RAND_MAX) - .5;
+        vec[k] = T( rand() )/T(RAND_MAX) - T(.5);
 }
 
 template <typename T>
 void RandomFill(std::vector<std::complex<T> > & vec)
 {
     for (size_t k=0;k<vec.size();++k)
-        vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - .5, T( rand() )/T(RAND_MAX) - .5);
+        vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - T(.5), T( rand() )/T(RAND_MAX) - T(.5));
 }
 
 template <typename T_time,typename T_freq>
@@ -85,7 +85,7 @@
     vector<T_time> timebuf2;
     fft.inv(timebuf2,freqbuf);
 
-    long double rmse = mag2(timebuf - timebuf2) / mag2(timebuf);
+    T_time rmse = mag2(timebuf - timebuf2) / mag2(timebuf);
     cout << "roundtrip rmse: " << rmse << endl;
 }