2507 files changed, 60120 insertions, 31065 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 13be77e90eb..7631b24f7cd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -62,6 +61,13 @@ set(CMAKE_BUILD_TYPE_INIT "Release")
 # quiet output for Makefiles, 'make -s' helps too
 # set_property(GLOBAL PROPERTY RULE_MESSAGES OFF)
 
+# global compile definitions since add_definitions() adds for all.
+set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG           DEBUG _DEBUG)
+set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE         NDEBUG)
+set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_MINSIZEREL      NDEBUG)
+set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELWITHDEBINFO  DEBUG _DEBUG)
+
+
 #-----------------------------------------------------------------------------
 # Set policy
 
@@ -149,7 +155,7 @@ else()
 endif()
 
 if(UNIX AND NOT APPLE)
-	option(WITH_X11_XINPUT "Enable X11 Xinput (tablet support)"	ON)
+	option(WITH_X11_XINPUT "Enable X11 Xinput (tablet support and unicode input)"	ON)
 	option(WITH_BUILTIN_GLEW "Use GLEW OpenGL wrapper library bundled with blender" ON)
 else()
 	# not an option for other OS's
@@ -504,8 +510,8 @@ if(UNIX AND NOT APPLE)
 
 	set(PLATFORM_LINKFLAGS "-pthread")
 
-	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -D_LARGEFILE64_SOURCE")
-	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -D_LARGEFILE64_SOURCE")
+	# lfs on glibc, all compilers should use
+	add_definitions(-D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -D_LARGEFILE64_SOURCE)
 
 	# GNU Compiler
 	if(CMAKE_COMPILER_IS_GNUCC)
@@ -613,21 +619,21 @@ elseif(WIN32)
 		set(CMAKE_C_FLAGS   "/nologo /J /W0 /Gd /wd4018 /wd4244 /wd4305 /wd4800 /wd4065 /wd4267 /we4013 /EHsc" CACHE STRING "MSVC MT C++ flags " FORCE)
 
 		if(CMAKE_CL_64)
-			set(CMAKE_CXX_FLAGS_DEBUG "/D_DEBUG /Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
+			set(CMAKE_CXX_FLAGS_DEBUG "/Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
 		else()
-			set(CMAKE_CXX_FLAGS_DEBUG "/D_DEBUG /Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /ZI /J" CACHE STRING "MSVC MT flags " FORCE)
+			set(CMAKE_CXX_FLAGS_DEBUG "/Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /ZI /J" CACHE STRING "MSVC MT flags " FORCE)
 		endif()
-		set(CMAKE_CXX_FLAGS_RELEASE "/O2 /Ob2 /DNDEBUG /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
-		set(CMAKE_CXX_FLAGS_MINSIZEREL "/O1 /Ob1 /DNDEBUG /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
-		set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/O2 /Ob1 /DNDEBUG /EHsc /MT /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_CXX_FLAGS_RELEASE "/O2 /Ob2 /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_CXX_FLAGS_MINSIZEREL "/O1 /Ob1 /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/O2 /Ob1 /EHsc /MT /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
 		if(CMAKE_CL_64)
-			set(CMAKE_C_FLAGS_DEBUG "/D_DEBUG /Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
+			set(CMAKE_C_FLAGS_DEBUG "/Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
 		else()
-			set(CMAKE_C_FLAGS_DEBUG "/D_DEBUG /Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /ZI /J" CACHE STRING "MSVC MT flags " FORCE)
+			set(CMAKE_C_FLAGS_DEBUG "/Od /Gm /EHsc /RTC1 /MTd /W3 /nologo /ZI /J" CACHE STRING "MSVC MT flags " FORCE)
 		endif()
-		set(CMAKE_C_FLAGS_RELEASE "/O2 /Ob2 /DNDEBUG /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
-		set(CMAKE_C_FLAGS_MINSIZEREL "/O1 /Ob1 /DNDEBUG /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
-		set(CMAKE_C_FLAGS_RELWITHDEBINFO "/O2 /Ob1 /DNDEBUG /EHsc /MT /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_C_FLAGS_RELEASE "/O2 /Ob2 /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_C_FLAGS_MINSIZEREL "/O1 /Ob1 /EHsc /MT /W3 /nologo /J" CACHE STRING "MSVC MT flags " FORCE)
+		set(CMAKE_C_FLAGS_RELWITHDEBINFO "/O2 /Ob1 /EHsc /MT /W3 /nologo /Zi /J" CACHE STRING "MSVC MT flags " FORCE)
 
 		if(WITH_INTERNATIONAL)
 			set(GETTEXT ${LIBDIR}/gettext)
@@ -785,9 +791,6 @@ elseif(WIN32)
 
 		add_definitions(-DFREE_WINDOWS)
 
-		set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
-		set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -D_DEBUG")
-
 		if(WITH_INTERNATIONAL)
 			set(GETTEXT ${LIBDIR}/gcc/gettext)
 			set(GETTEXT_INCLUDE_DIRS ${GETTEXT}/include)
@@ -1218,21 +1221,6 @@ endif()
 #-----------------------------------------------------------------------------
 # Extra compile flags
 
-if((NOT WIN32) AND (NOT MSVC))
-	# used for internal debug checks
-	set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -DDEBUG")
-	set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -DDEBUG")
-
-	# assert() checks for this.
-	set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG")
-	set(CMAKE_CXX_FLAGS_MINSIZEREL "${CMAKE_CXX_FLAGS_MINSIZEREL} -DNDEBUG")
-	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} -DNDEBUG")
-
-	set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DNDEBUG")
-	set(CMAKE_C_FLAGS_MINSIZEREL "${CMAKE_C_FLAGS_MINSIZEREL} -DNDEBUG")
-	set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO} -DNDEBUG")
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCC)
 
 	ADD_CHECK_C_COMPILER_FLAG(C_WARNINGS C_WARN_ALL -Wall)
diff --git a/GNUmakefile b/GNUmakefile
index c68c8684687..b06344ca238 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -1,6 +1,5 @@
 # -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
-# vim: tabstop=8
-# $Id$
+# vim: tabstop=4
 #
 # ##### BEGIN GPL LICENSE BLOCK #####
 #
diff --git a/SConstruct b/SConstruct
index aeaef581145..93787cdddce 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# $Id$
+#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -30,6 +30,8 @@
 # Then read all SConscripts and build
 #
 # TODO: fix /FORCE:MULTIPLE on windows to get proper debug builds.
+# TODO: directory copy functions are far too complicated, see:
+#       http://wiki.blender.org/index.php/User:Ideasman42/SConsNotSimpleInstallingFiles
 
 import platform as pltfrm
 
diff --git a/build_files/cmake/cmake_consistency_check.py b/build_files/cmake/cmake_consistency_check.py
index 880cb582f1e..b1fc88bfe26 100755
--- a/build_files/cmake/cmake_consistency_check.py
+++ b/build_files/cmake/cmake_consistency_check.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -75,7 +74,7 @@ def is_c_header(filename):
 
 def is_c(filename):
     ext = splitext(filename)[1]
-    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc"))
+    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc", ".cc", ".inl"))
 
 
 def is_c_any(filename):
diff --git a/build_files/cmake/cmake_netbeans_project.py b/build_files/cmake/cmake_netbeans_project.py
index 02dfec06c0b..769b4adb37b 100755
--- a/build_files/cmake/cmake_netbeans_project.py
+++ b/build_files/cmake/cmake_netbeans_project.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/build_files/cmake/cmake_qtcreator_project.py b/build_files/cmake/cmake_qtcreator_project.py
index 2a2774c9944..fc5c00ec2ec 100755
--- a/build_files/cmake/cmake_qtcreator_project.py
+++ b/build_files/cmake/cmake_qtcreator_project.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/build_files/cmake/cmake_static_check_cppcheck.py b/build_files/cmake/cmake_static_check_cppcheck.py
index 1c8d619a513..8720cb83054 100644
--- a/build_files/cmake/cmake_static_check_cppcheck.py
+++ b/build_files/cmake/cmake_static_check_cppcheck.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/build_files/cmake/cmake_static_check_sparse.py b/build_files/cmake/cmake_static_check_sparse.py
index aa2d56e5509..bd7629e4229 100644
--- a/build_files/cmake/cmake_static_check_sparse.py
+++ b/build_files/cmake/cmake_static_check_sparse.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/build_files/cmake/cmake_static_check_splint.py b/build_files/cmake/cmake_static_check_splint.py
index 08d83337426..edfefa3d068 100644
--- a/build_files/cmake/cmake_static_check_splint.py
+++ b/build_files/cmake/cmake_static_check_splint.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/build_files/cmake/macros.cmake b/build_files/cmake/macros.cmake
index e4665124c8f..bf90ef85eb0 100644
--- a/build_files/cmake/macros.cmake
+++ b/build_files/cmake/macros.cmake
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 
 
 # foo_bar.spam --> foo_barMySuffix.spam
@@ -17,7 +16,7 @@ macro(file_suffix
 	unset(_file_name_EXT)
 endmacro()
 
-# usefil for adding debug suffix to library lists:
+# useful for adding debug suffix to library lists:
 # /somepath/foo.lib --> /somepath/foo_d.lib
 macro(file_list_suffix
 	fp_list_new fp_list fn_suffix
@@ -413,6 +412,32 @@ macro(remove_strict_flags)
 
 endmacro()
 
+# note, we can only append flags on a single file so we need to negate the options.
+# at the moment we cant shut up ffmpeg deprecations, so use this, but will
+# probably add more removals here.
+macro(remove_strict_flags_file
+	filenames)
+
+	foreach(_SOURCE ${ARGV})
+
+		if(CMAKE_COMPILER_IS_GNUCC)
+			set_source_files_properties(${_SOURCE}
+				PROPERTIES
+					COMPILE_FLAGS "-Wno-deprecated-declarations"
+			)
+		endif()
+
+		if(MSVC)
+			# TODO
+		endif()
+
+	endforeach()	
+
+	unset(_SOURCE)
+
+endmacro()
+
+
 macro(ADD_CHECK_C_COMPILER_FLAG
 	_CFLAGS
 	_CACHE_VAR
diff --git a/build_files/cmake/project_info.py b/build_files/cmake/project_info.py
index db12884469b..8e813d39b64 100755
--- a/build_files/cmake/project_info.py
+++ b/build_files/cmake/project_info.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -105,7 +104,7 @@ def is_glsl(filename):
 
 def is_c(filename):
     ext = splitext(filename)[1]
-    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc"))
+    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc", ".cc", ".inl"))
 
 
 def is_c_any(filename):
diff --git a/build_files/cmake/project_source_info.py b/build_files/cmake/project_source_info.py
index c636d778aaa..5d646eea2c1 100644
--- a/build_files/cmake/project_source_info.py
+++ b/build_files/cmake/project_source_info.py
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -41,7 +40,7 @@ def is_c_header(filename):
 
 def is_c(filename):
     ext = os.path.splitext(filename)[1]
-    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc"))
+    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc", ".cc", ".inl"))
 
 
 def is_c_any(filename):
diff --git a/doc/build_systems/cmake.txt b/doc/build_systems/cmake.txt
index d0e8a088ca7..b7a6bd9871e 100644
--- a/doc/build_systems/cmake.txt
+++ b/doc/build_systems/cmake.txt
@@ -1,4 +1,3 @@
-$Id$
 
     Blender CMake build system
     ============================
diff --git a/doc/build_systems/scons-dev.txt b/doc/build_systems/scons-dev.txt
index 4cc4e6c6ec2..b7cac8109d4 100644
--- a/doc/build_systems/scons-dev.txt
+++ b/doc/build_systems/scons-dev.txt
@@ -1,5 +1,3 @@
-$Id$
-
 
     Internals of Blenders SCons scripts
     ===================================
diff --git a/doc/build_systems/scons.txt b/doc/build_systems/scons.txt
index 9d018bcc790..d6ead8d32ae 100644
--- a/doc/build_systems/scons.txt
+++ b/doc/build_systems/scons.txt
@@ -1,4 +1,3 @@
-$Id$
 
     Blenders SCons build scripts
     ============================
diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt
index 0386b3d71d8..321ebc11985 100644
--- a/extern/CMakeLists.txt
+++ b/extern/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -27,6 +26,8 @@
 # Otherwise we get warnings here that we cant fix in external projects
 remove_strict_flags()
 
+add_subdirectory(colamd)
+
 if(WITH_BULLET)
 	add_subdirectory(bullet2)
 endif()
diff --git a/extern/Eigen2/Eigen/Array b/extern/Eigen2/Eigen/Array
deleted file mode 100644
index c847f9521fe..00000000000
--- a/extern/Eigen2/Eigen/Array
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef EIGEN_ARRAY_MODULE_H
-#define EIGEN_ARRAY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-namespace Eigen {
-
-/** \defgroup Array_Module Array module
-  * This module provides several handy features to manipulate matrices as simple array of values.
-  * In addition to listed classes, it defines various methods of the Cwise interface
-  * (accessible from MatrixBase::cwise()), including:
-  *  - matrix-scalar sum,
-  *  - coeff-wise comparison operators,
-  *  - sin, cos, sqrt, pow, exp, log, square, cube, inverse (reciprocal).
-  *
-  * This module also provides various MatrixBase methods, including:
-  *  - \ref MatrixBase::all() "all", \ref MatrixBase::any() "any",
-  *  - \ref MatrixBase::Random() "random matrix initialization"
-  *
-  * \code
-  * #include <Eigen/Array>
-  * \endcode
-  */
-
-#include "src/Array/CwiseOperators.h"
-#include "src/Array/Functors.h"
-#include "src/Array/BooleanRedux.h"
-#include "src/Array/Select.h"
-#include "src/Array/PartialRedux.h"
-#include "src/Array/Random.h"
-#include "src/Array/Norms.h"
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_ARRAY_MODULE_H
diff --git a/extern/Eigen2/Eigen/Cholesky b/extern/Eigen2/Eigen/Cholesky
deleted file mode 100644
index f1806f726c7..00000000000
--- a/extern/Eigen2/Eigen/Cholesky
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef EIGEN_CHOLESKY_MODULE_H
-#define EIGEN_CHOLESKY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-// Note that EIGEN_HIDE_HEAVY_CODE has to be defined per module
-#if (defined EIGEN_EXTERN_INSTANTIATIONS) && (EIGEN_EXTERN_INSTANTIATIONS>=2)
-  #ifndef EIGEN_HIDE_HEAVY_CODE
-  #define EIGEN_HIDE_HEAVY_CODE
-  #endif
-#elif defined EIGEN_HIDE_HEAVY_CODE
-  #undef EIGEN_HIDE_HEAVY_CODE
-#endif
-
-namespace Eigen {
-
-/** \defgroup Cholesky_Module Cholesky module
-  *
-  * \nonstableyet
-  *
-  * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are accessible via the following MatrixBase methods:
-  *  - MatrixBase::llt(),
-  *  - MatrixBase::ldlt()
-  *
-  * \code
-  * #include <Eigen/Cholesky>
-  * \endcode
-  */
-
-#include "src/Array/CwiseOperators.h"
-#include "src/Array/Functors.h"
-#include "src/Cholesky/LLT.h"
-#include "src/Cholesky/LDLT.h"
-
-} // namespace Eigen
-
-#define EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(MATRIXTYPE,PREFIX) \
-  PREFIX template class LLT<MATRIXTYPE>; \
-  PREFIX template class LDLT<MATRIXTYPE>
-
-#define EIGEN_CHOLESKY_MODULE_INSTANTIATE(PREFIX) \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix2f,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix2d,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix3f,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix3d,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix4f,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(Matrix4d,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(MatrixXf,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(MatrixXd,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(MatrixXcf,PREFIX); \
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE_TYPE(MatrixXcd,PREFIX)
-
-#ifdef EIGEN_EXTERN_INSTANTIATIONS
-
-namespace Eigen {
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE(extern);
-} // namespace Eigen
-#endif
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_CHOLESKY_MODULE_H
diff --git a/extern/Eigen2/Eigen/Core b/extern/Eigen2/Eigen/Core
deleted file mode 100644
index 060c60f1306..00000000000
--- a/extern/Eigen2/Eigen/Core
+++ /dev/null
@@ -1,155 +0,0 @@
-#ifndef EIGEN_CORE_H
-#define EIGEN_CORE_H
-
-// first thing Eigen does: prevent MSVC from committing suicide
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-#ifdef _MSC_VER
-  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (_MSC_VER >= 1500) // 2008 or later
-    // Remember that usage of defined() in a #define is undefined by the standard.
-    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
-    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
-      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
-    #endif   
-  #endif
-#endif
-
-#ifdef __GNUC__
-  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__>=x && __GNUC_MINOR__>=y) || __GNUC__>x)
-#else
-  #define EIGEN_GNUC_AT_LEAST(x,y) 0
-#endif
-
-// Remember that usage of defined() in a #define is undefined by the standard
-#if (defined __SSE2__) && ( (!defined __GNUC__) || EIGEN_GNUC_AT_LEAST(4,2) )
-  #define EIGEN_SSE2_BUT_NOT_OLD_GCC
-#endif
-
-#ifndef EIGEN_DONT_VECTORIZE
-  #if defined (EIGEN_SSE2_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_SSE
-    #include <emmintrin.h>
-    #include <xmmintrin.h>
-    #ifdef __SSE3__
-      #include <pmmintrin.h>
-    #endif
-    #ifdef __SSSE3__
-      #include <tmmintrin.h>
-    #endif
-  #elif defined __ALTIVEC__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ALTIVEC
-    #include <altivec.h>
-    // We need to #undef all these ugly tokens defined in <altivec.h>
-    // => use __vector instead of vector
-    #undef bool
-    #undef vector
-    #undef pixel
-  #endif
-#endif
-
-#include <cstdlib>
-#include <cmath>
-#include <complex>
-#include <cassert>
-#include <functional>
-#include <iostream>
-#include <cstring>
-#include <string>
-#include <limits>
-#include <cstddef>
-
-#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
-  #define EIGEN_EXCEPTIONS
-#endif
-
-#ifdef EIGEN_EXCEPTIONS
-  #include <new>
-#endif
-
-// this needs to be done after all possible windows C header includes and before any Eigen source includes
-// (system C++ includes are supposed to be able to deal with this already):
-// windows.h defines min and max macros which would make Eigen fail to compile.
-#if defined(min) || defined(max)
-#error The preprocessor symbols 'min' or 'max' are defined. If you are compiling on Windows, do #define NOMINMAX to prevent windows.h from defining these symbols.
-#endif
-
-namespace Eigen {
-
-/** \defgroup Core_Module Core module
-  * This is the main module of Eigen providing dense matrix and vector support
-  * (both fixed and dynamic size) with all the features corresponding to a BLAS library
-  * and much more...
-  *
-  * \code
-  * #include <Eigen/Core>
-  * \endcode
-  */
-
-#include "src/Core/util/Macros.h"
-#include "src/Core/util/Constants.h"
-#include "src/Core/util/ForwardDeclarations.h"
-#include "src/Core/util/Meta.h"
-#include "src/Core/util/XprHelper.h"
-#include "src/Core/util/StaticAssert.h"
-#include "src/Core/util/Memory.h"
-
-#include "src/Core/NumTraits.h"
-#include "src/Core/MathFunctions.h"
-#include "src/Core/GenericPacketMath.h"
-
-#if defined EIGEN_VECTORIZE_SSE
-  #include "src/Core/arch/SSE/PacketMath.h"
-#elif defined EIGEN_VECTORIZE_ALTIVEC
-  #include "src/Core/arch/AltiVec/PacketMath.h"
-#endif
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 16
-#endif
-
-#include "src/Core/Functors.h"
-#include "src/Core/MatrixBase.h"
-#include "src/Core/Coeffs.h"
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
-                                // at least confirmed with Doxygen 1.5.5 and 1.5.6
-  #include "src/Core/Assign.h"
-#endif
-
-#include "src/Core/MatrixStorage.h"
-#include "src/Core/NestByValue.h"
-#include "src/Core/Flagged.h"
-#include "src/Core/Matrix.h"
-#include "src/Core/Cwise.h"
-#include "src/Core/CwiseBinaryOp.h"
-#include "src/Core/CwiseUnaryOp.h"
-#include "src/Core/CwiseNullaryOp.h"
-#include "src/Core/Dot.h"
-#include "src/Core/Product.h"
-#include "src/Core/DiagonalProduct.h"
-#include "src/Core/SolveTriangular.h"
-#include "src/Core/MapBase.h"
-#include "src/Core/Map.h"
-#include "src/Core/Block.h"
-#include "src/Core/Minor.h"
-#include "src/Core/Transpose.h"
-#include "src/Core/DiagonalMatrix.h"
-#include "src/Core/DiagonalCoeffs.h"
-#include "src/Core/Sum.h"
-#include "src/Core/Redux.h"
-#include "src/Core/Visitor.h"
-#include "src/Core/Fuzzy.h"
-#include "src/Core/IO.h"
-#include "src/Core/Swap.h"
-#include "src/Core/CommaInitializer.h"
-#include "src/Core/Part.h"
-#include "src/Core/CacheFriendlyProduct.h"
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_CORE_H
diff --git a/extern/Eigen2/Eigen/Eigen b/extern/Eigen2/Eigen/Eigen
deleted file mode 100644
index 654c8dc6380..00000000000
--- a/extern/Eigen2/Eigen/Eigen
+++ /dev/null
@@ -1,2 +0,0 @@
-#include "Dense"
-#include "Sparse"
diff --git a/extern/Eigen2/Eigen/Geometry b/extern/Eigen2/Eigen/Geometry
deleted file mode 100644
index 617b25eb6f5..00000000000
--- a/extern/Eigen2/Eigen/Geometry
+++ /dev/null
@@ -1,51 +0,0 @@
-#ifndef EIGEN_GEOMETRY_MODULE_H
-#define EIGEN_GEOMETRY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-#include "Array"
-#include <limits>
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-namespace Eigen {
-
-/** \defgroup Geometry_Module Geometry module
-  *
-  * \nonstableyet
-  *
-  * This module provides support for:
-  *  - fixed-size homogeneous transformations
-  *  - translation, scaling, 2D and 3D rotations
-  *  - quaternions
-  *  - \ref MatrixBase::cross() "cross product"
-  *  - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
-  *  - some linear components: parametrized-lines and hyperplanes
-  *
-  * \code
-  * #include <Eigen/Geometry>
-  * \endcode
-  */
-
-#include "src/Geometry/OrthoMethods.h"
-#include "src/Geometry/RotationBase.h"
-#include "src/Geometry/Rotation2D.h"
-#include "src/Geometry/Quaternion.h"
-#include "src/Geometry/AngleAxis.h"
-#include "src/Geometry/EulerAngles.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"
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_GEOMETRY_MODULE_H
diff --git a/extern/Eigen2/Eigen/LeastSquares b/extern/Eigen2/Eigen/LeastSquares
deleted file mode 100644
index 573a13cb42f..00000000000
--- a/extern/Eigen2/Eigen/LeastSquares
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef EIGEN_REGRESSION_MODULE_H
-#define EIGEN_REGRESSION_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-#include "QR"
-#include "Geometry"
-
-namespace Eigen {
-
-/** \defgroup LeastSquares_Module LeastSquares module
-  * This module provides linear regression and related features.
-  *
-  * \code
-  * #include <Eigen/LeastSquares>
-  * \endcode
-  */
-
-#include "src/LeastSquares/LeastSquares.h"
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/extern/Eigen2/Eigen/QR b/extern/Eigen2/Eigen/QR
deleted file mode 100644
index 97907d1e50f..00000000000
--- a/extern/Eigen2/Eigen/QR
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef EIGEN_QR_MODULE_H
-#define EIGEN_QR_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-#include "Cholesky"
-
-// Note that EIGEN_HIDE_HEAVY_CODE has to be defined per module
-#if (defined EIGEN_EXTERN_INSTANTIATIONS) && (EIGEN_EXTERN_INSTANTIATIONS>=2)
-  #ifndef EIGEN_HIDE_HEAVY_CODE
-  #define EIGEN_HIDE_HEAVY_CODE
-  #endif
-#elif defined EIGEN_HIDE_HEAVY_CODE
-  #undef EIGEN_HIDE_HEAVY_CODE
-#endif
-
-namespace Eigen {
-
-/** \defgroup QR_Module QR module
-  *
-  * \nonstableyet
-  *
-  * This module mainly provides QR decomposition and an eigen value solver.
-  * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::qr(),
-  *  - MatrixBase::eigenvalues(),
-  *  - MatrixBase::operatorNorm()
-  *
-  * \code
-  * #include <Eigen/QR>
-  * \endcode
-  */
-
-#include "src/QR/QR.h"
-#include "src/QR/Tridiagonalization.h"
-#include "src/QR/EigenSolver.h"
-#include "src/QR/SelfAdjointEigenSolver.h"
-#include "src/QR/HessenbergDecomposition.h"
-
-// declare all classes for a given matrix type
-#define EIGEN_QR_MODULE_INSTANTIATE_TYPE(MATRIXTYPE,PREFIX) \
-  PREFIX template class QR<MATRIXTYPE>; \
-  PREFIX template class Tridiagonalization<MATRIXTYPE>; \
-  PREFIX template class HessenbergDecomposition<MATRIXTYPE>; \
-  PREFIX template class SelfAdjointEigenSolver<MATRIXTYPE>
-
-// removed because it does not support complex yet
-//  PREFIX template class EigenSolver<MATRIXTYPE>
-
-// declare all class for all types
-#define EIGEN_QR_MODULE_INSTANTIATE(PREFIX) \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix2f,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix2d,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix3f,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix3d,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix4f,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(Matrix4d,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(MatrixXf,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(MatrixXd,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(MatrixXcf,PREFIX); \
-  EIGEN_QR_MODULE_INSTANTIATE_TYPE(MatrixXcd,PREFIX)
-
-#ifdef EIGEN_EXTERN_INSTANTIATIONS
-  EIGEN_QR_MODULE_INSTANTIATE(extern);
-#endif // EIGEN_EXTERN_INSTANTIATIONS
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_QR_MODULE_H
diff --git a/extern/Eigen2/Eigen/QtAlignedMalloc b/extern/Eigen2/Eigen/QtAlignedMalloc
deleted file mode 100644
index fde227328fa..00000000000
--- a/extern/Eigen2/Eigen/QtAlignedMalloc
+++ /dev/null
@@ -1,29 +0,0 @@
-
-#ifndef EIGEN_QTMALLOC_MODULE_H
-#define EIGEN_QTMALLOC_MODULE_H
-
-#include "Core"
-
-#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
-
-inline void *qMalloc(size_t size)
-{
-  return Eigen::ei_aligned_malloc(size);
-}
-
-inline void qFree(void *ptr)
-{
-  Eigen::ei_aligned_free(ptr);
-}
-
-inline void *qRealloc(void *ptr, size_t size)
-{
-  void* newPtr = Eigen::ei_aligned_malloc(size);
-  memcpy(newPtr, ptr, size);
-  Eigen::ei_aligned_free(ptr);
-  return newPtr;
-}
-
-#endif
-
-#endif // EIGEN_QTMALLOC_MODULE_H
diff --git a/extern/Eigen2/Eigen/Sparse b/extern/Eigen2/Eigen/Sparse
deleted file mode 100644
index 536c284549b..00000000000
--- a/extern/Eigen2/Eigen/Sparse
+++ /dev/null
@@ -1,132 +0,0 @@
-#ifndef EIGEN_SPARSE_MODULE_H
-#define EIGEN_SPARSE_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableMSVCWarnings.h"
-
-#include <vector>
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-
-#ifdef EIGEN_GOOGLEHASH_SUPPORT
-  #include <google/dense_hash_map>
-#endif
-
-#ifdef EIGEN_CHOLMOD_SUPPORT
-  extern "C" {
-    #include "cholmod.h"
-  }
-#endif
-
-#ifdef EIGEN_TAUCS_SUPPORT
-  // taucs.h declares a lot of mess
-  #define isnan
-  #define finite
-  #define isinf
-  extern "C" {
-    #include "taucs.h"
-  }
-  #undef isnan
-  #undef finite
-  #undef isinf
-
-  #ifdef min
-    #undef min
-  #endif
-  #ifdef max
-    #undef max
-  #endif
-  #ifdef complex
-    #undef complex
-  #endif
-#endif
-
-#ifdef EIGEN_SUPERLU_SUPPORT
-  typedef int int_t;
-  #include "superlu/slu_Cnames.h"
-  #include "superlu/supermatrix.h"
-  #include "superlu/slu_util.h"
-
-  namespace SuperLU_S {
-  #include "superlu/slu_sdefs.h"
-  }
-  namespace SuperLU_D {
-  #include "superlu/slu_ddefs.h"
-  }
-  namespace SuperLU_C {
-  #include "superlu/slu_cdefs.h"
-  }
-  namespace SuperLU_Z {
-  #include "superlu/slu_zdefs.h"
-  }
-  namespace Eigen { struct SluMatrix; }
-#endif
-
-#ifdef EIGEN_UMFPACK_SUPPORT
-  #include "umfpack.h"
-#endif
-
-namespace Eigen {
-
-/** \defgroup Sparse_Module Sparse module
-  *
-  * \nonstableyet
-  *
-  * See the \ref TutorialSparse "Sparse tutorial"
-  *
-  * \code
-  * #include <Eigen/QR>
-  * \endcode
-  */
-
-#include "src/Sparse/SparseUtil.h"
-#include "src/Sparse/SparseMatrixBase.h"
-#include "src/Sparse/CompressedStorage.h"
-#include "src/Sparse/AmbiVector.h"
-#include "src/Sparse/RandomSetter.h"
-#include "src/Sparse/SparseBlock.h"
-#include "src/Sparse/SparseMatrix.h"
-#include "src/Sparse/DynamicSparseMatrix.h"
-#include "src/Sparse/MappedSparseMatrix.h"
-#include "src/Sparse/SparseVector.h"
-#include "src/Sparse/CoreIterators.h"
-#include "src/Sparse/SparseTranspose.h"
-#include "src/Sparse/SparseCwise.h"
-#include "src/Sparse/SparseCwiseUnaryOp.h"
-#include "src/Sparse/SparseCwiseBinaryOp.h"
-#include "src/Sparse/SparseDot.h"
-#include "src/Sparse/SparseAssign.h"
-#include "src/Sparse/SparseRedux.h"
-#include "src/Sparse/SparseFuzzy.h"
-#include "src/Sparse/SparseFlagged.h"
-#include "src/Sparse/SparseProduct.h"
-#include "src/Sparse/SparseDiagonalProduct.h"
-#include "src/Sparse/TriangularSolver.h"
-#include "src/Sparse/SparseLLT.h"
-#include "src/Sparse/SparseLDLT.h"
-#include "src/Sparse/SparseLU.h"
-
-#ifdef EIGEN_CHOLMOD_SUPPORT
-# include "src/Sparse/CholmodSupport.h"
-#endif
-
-#ifdef EIGEN_TAUCS_SUPPORT
-# include "src/Sparse/TaucsSupport.h"
-#endif
-
-#ifdef EIGEN_SUPERLU_SUPPORT
-# include "src/Sparse/SuperLUSupport.h"
-#endif
-
-#ifdef EIGEN_UMFPACK_SUPPORT
-# include "src/Sparse/UmfPackSupport.h"
-#endif
-
-} // namespace Eigen
-
-#include "src/Core/util/EnableMSVCWarnings.h"
-
-#endif // EIGEN_SPARSE_MODULE_H
diff --git a/extern/Eigen2/Eigen/StdVector b/extern/Eigen2/Eigen/StdVector
deleted file mode 100644
index c0744d6a0f3..00000000000
--- a/extern/Eigen2/Eigen/StdVector
+++ /dev/null
@@ -1,147 +0,0 @@
-#ifdef EIGEN_USE_NEW_STDVECTOR
-#include "NewStdVector"
-#else
-
-#ifndef EIGEN_STDVECTOR_MODULE_H
-#define EIGEN_STDVECTOR_MODULE_H
-
-#if defined(_GLIBCXX_VECTOR) || defined(_VECTOR_)
-#error you must include <Eigen/StdVector> before <vector>. Also note that <Eigen/Sparse> includes <vector>, so it must be included after <Eigen/StdVector> too.
-#endif                                                    
-
-#ifndef EIGEN_GNUC_AT_LEAST
-#ifdef __GNUC__
-  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__>=x && __GNUC_MINOR__>=y) || __GNUC__>x)
-#else
-  #define EIGEN_GNUC_AT_LEAST(x,y) 0
-#endif
-#endif
-
-#define vector std_vector
-#include <vector>        
-#undef vector
-
-namespace Eigen {
-
-template<typename T> class aligned_allocator;
-
-// meta programming to determine if a class has a given member
-struct ei_does_not_have_aligned_operator_new_marker_sizeof {int a[1];};
-struct ei_has_aligned_operator_new_marker_sizeof {int a[2];};
-
-template<typename ClassType>
-struct ei_has_aligned_operator_new {
-    template<typename T>
-    static ei_has_aligned_operator_new_marker_sizeof
-    test(T const *, typename T::ei_operator_new_marker_type const * = 0);
-    static ei_does_not_have_aligned_operator_new_marker_sizeof
-    test(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {ret =  sizeof(test(static_cast<ClassType*>(0))) 
-              == sizeof(ei_has_aligned_operator_new_marker_sizeof) };
-};
-
-#ifdef _MSC_VER
-  
-  // sometimes, MSVC detects, at compile time, that the argument x
-  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
-  // even if this function is never called. Whence this little wrapper.
-  #define _EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) Eigen::ei_workaround_msvc_std_vector<T>
-  template<typename T> struct ei_workaround_msvc_std_vector : public T
-  {
-    inline ei_workaround_msvc_std_vector() : T() {}
-    inline ei_workaround_msvc_std_vector(const T& other) : T(other) {}
-    inline operator T& () { return *static_cast<T*>(this); }
-    inline operator const T& () const { return *static_cast<const T*>(this); }
-    template<typename OtherT>
-    inline T& operator=(const OtherT& other)
-    { T::operator=(other); return *this; }
-    inline ei_workaround_msvc_std_vector& operator=(const ei_workaround_msvc_std_vector& other)
-    { T::operator=(other); return *this; }
-  };
-
-#else
-
-  #define _EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) T
-
-#endif
-
-}
-
-namespace std {
-
-#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
-  public:  \
-    typedef T value_type; \
-    typedef typename vector_base::allocator_type allocator_type; \
-    typedef typename vector_base::size_type size_type;  \
-    typedef typename vector_base::iterator iterator;  \
-    explicit vector(const allocator_type& __a = allocator_type()) : vector_base(__a) {}  \
-    vector(const vector& c) : vector_base(c) {}  \
-    vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
-    vector(iterator start, iterator end) : vector_base(start, end) {}  \
-    vector& operator=(const vector& __x) {  \
-      vector_base::operator=(__x);  \
-      return *this;  \
-    }
-
-template<typename T,
-         typename AllocT = std::allocator<T>,
-         bool HasAlignedNew = Eigen::ei_has_aligned_operator_new<T>::ret>
-class vector : public std::std_vector<T,AllocT>
-{
-  typedef std_vector<T, AllocT> vector_base;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-};
-
-template<typename T,typename DummyAlloc>
-class vector<T,DummyAlloc,true>
-  : public std::std_vector<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
-                           Eigen::aligned_allocator<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> >          
-{
-  typedef std_vector<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
-                     Eigen::aligned_allocator<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> > vector_base;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-
-  void resize(size_type __new_size)
-  { resize(__new_size, T()); }     
-
-  #if defined(_VECTOR_)
-  // workaround MSVC std::vector implementation
-  void resize(size_type __new_size, const value_type& __x)                 
-  {                                                              
-    if (vector_base::size() < __new_size)                                 
-      vector_base::_Insert_n(vector_base::end(), __new_size - vector_base::size(), __x);
-    else if (__new_size < vector_base::size())
-      vector_base::erase(vector_base::begin() + __new_size, vector_base::end());
-  }
-  #elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
-  // workaround GCC std::vector implementation
-  void resize(size_type __new_size, const value_type& __x)
-  {                                              
-    if (__new_size < vector_base::size())               
-      vector_base::_M_erase_at_end(this->_M_impl._M_start + __new_size);
-    else                       
-      vector_base::insert(vector_base::end(), __new_size - vector_base::size(), __x); 
-  }                                                              
-  #elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,1)
-  void resize(size_type __new_size, const value_type& __x)
-  {
-    if (__new_size < vector_base::size())
-      vector_base::erase(vector_base::begin() + __new_size, vector_base::end());
-    else
-      vector_base::insert(vector_base::end(), __new_size - vector_base::size(), __x);
-  }
-  #else
-  // Before gcc-4.1 we already have: std::vector::resize(size_type,const T&),
-  // so no need for a workaround !
-  using vector_base::resize;
-  #endif  
-};
-
-}
-
-#endif // EIGEN_STDVECTOR_MODULE_H
-
-#endif // EIGEN_USE_NEW_STDVECTOR
\ No newline at end of file
diff --git a/extern/Eigen2/Eigen/src/Array/CwiseOperators.h b/extern/Eigen2/Eigen/src/Array/CwiseOperators.h
deleted file mode 100644
index 4b6346daa51..00000000000
--- a/extern/Eigen2/Eigen/src/Array/CwiseOperators.h
+++ /dev/null
@@ -1,453 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ARRAY_CWISE_OPERATORS_H
-#define EIGEN_ARRAY_CWISE_OPERATORS_H
-
-// -- unary operators --
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise square root of *this.
-  *
-  * Example: \include Cwise_sqrt.cpp
-  * Output: \verbinclude Cwise_sqrt.out
-  *
-  * \sa pow(), square()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sqrt_op)
-Cwise<ExpressionType>::sqrt() const
-{
-  return _expression();
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise exponential of *this.
-  *
-  * Example: \include Cwise_exp.cpp
-  * Output: \verbinclude Cwise_exp.out
-  *
-  * \sa pow(), log(), sin(), cos()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_exp_op)
-Cwise<ExpressionType>::exp() const
-{
-  return _expression();
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise logarithm of *this.
-  *
-  * Example: \include Cwise_log.cpp
-  * Output: \verbinclude Cwise_log.out
-  *
-  * \sa exp()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_log_op)
-Cwise<ExpressionType>::log() const
-{
-  return _expression();
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise cosine of *this.
-  *
-  * Example: \include Cwise_cos.cpp
-  * Output: \verbinclude Cwise_cos.out
-  *
-  * \sa sin(), exp()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_cos_op)
-Cwise<ExpressionType>::cos() const
-{
-  return _expression();
-}
-
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise sine of *this.
-  *
-  * Example: \include Cwise_sin.cpp
-  * Output: \verbinclude Cwise_sin.out
-  *
-  * \sa cos(), exp()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sin_op)
-Cwise<ExpressionType>::sin() const
-{
-  return _expression();
-}
-
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise power of *this to the given exponent.
-  *
-  * Example: \include Cwise_pow.cpp
-  * Output: \verbinclude Cwise_pow.out
-  *
-  * \sa exp(), log()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op)
-Cwise<ExpressionType>::pow(const Scalar& exponent) const
-{
-  return EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op)(_expression(), ei_scalar_pow_op<Scalar>(exponent));
-}
-
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise inverse of *this.
-  *
-  * Example: \include Cwise_inverse.cpp
-  * Output: \verbinclude Cwise_inverse.out
-  *
-  * \sa operator/(), operator*()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_inverse_op)
-Cwise<ExpressionType>::inverse() const
-{
-  return _expression();
-}
-
-/** \array_module
-  *
-  * \returns an expression of the coefficient-wise square of *this.
-  *
-  * Example: \include Cwise_square.cpp
-  * Output: \verbinclude Cwise_square.out
-  *
-  * \sa operator/(), operator*(), abs2()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_square_op)
-Cwise<ExpressionType>::square() const
-{
-  return _expression();
-}
-
-/** \array_module
-  *
-  * \returns an expression of the coefficient-wise cube of *this.
-  *
-  * Example: \include Cwise_cube.cpp
-  * Output: \verbinclude Cwise_cube.out
-  *
-  * \sa square(), pow()
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_cube_op)
-Cwise<ExpressionType>::cube() const
-{
-  return _expression();
-}
-
-
-// -- binary operators --
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \< operator of *this and \a other
-  *
-  * Example: \include Cwise_less.cpp
-  * Output: \verbinclude Cwise_less.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), operator>(), operator<=()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)(_expression(), other.derived());
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \<= operator of *this and \a other
-  *
-  * Example: \include Cwise_less_equal.cpp
-  * Output: \verbinclude Cwise_less_equal.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), operator>=(), operator<()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)(_expression(), other.derived());
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \> operator of *this and \a other
-  *
-  * Example: \include Cwise_greater.cpp
-  * Output: \verbinclude Cwise_greater.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), operator>=(), operator<()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)(_expression(), other.derived());
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \>= operator of *this and \a other
-  *
-  * Example: \include Cwise_greater_equal.cpp
-  * Output: \verbinclude Cwise_greater_equal.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), operator>(), operator<=()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)(_expression(), other.derived());
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise == operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by MatrixBase::isApprox() and
-  * MatrixBase::isMuchSmallerThan().
-  *
-  * Example: \include Cwise_equal_equal.cpp
-  * Output: \verbinclude Cwise_equal_equal.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), MatrixBase::isApprox(), MatrixBase::isMuchSmallerThan()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)(_expression(), other.derived());
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise != operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by MatrixBase::isApprox() and
-  * MatrixBase::isMuchSmallerThan().
-  *
-  * Example: \include Cwise_not_equal.cpp
-  * Output: \verbinclude Cwise_not_equal.out
-  *
-  * \sa MatrixBase::all(), MatrixBase::any(), MatrixBase::isApprox(), MatrixBase::isMuchSmallerThan()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)(_expression(), other.derived());
-}
-
-// comparisons to scalar value
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \< operator of *this and a scalar \a s
-  *
-  * \sa operator<(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \<= operator of *this and a scalar \a s
-  *
-  * \sa operator<=(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \> operator of *this and a scalar \a s
-  *
-  * \sa operator>(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise \>= operator of *this and a scalar \a s
-  *
-  * \sa operator>=(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise == operator of *this and a scalar \a s
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by MatrixBase::isApprox() and
-  * MatrixBase::isMuchSmallerThan().
-  *
-  * \sa operator==(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \array_module
-  * 
-  * \returns an expression of the coefficient-wise != operator of *this and a scalar \a s
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by MatrixBase::isApprox() and
-  * MatrixBase::isMuchSmallerThan().
-  *
-  * \sa operator!=(const MatrixBase<OtherDerived> &) const
-  */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-// scalar addition
-
-/** \array_module
-  *
-  * \returns an expression of \c *this with each coeff incremented by the constant \a scalar
-  *
-  * Example: \include Cwise_plus.cpp
-  * Output: \verbinclude Cwise_plus.out
-  *
-  * \sa operator+=(), operator-()
-  */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator+(const Scalar& scalar) const
-{
-  return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, ei_scalar_add_op<Scalar>(scalar));
-}
-
-/** \array_module
-  *
-  * Adds the given \a scalar to each coeff of this expression.
-  *
-  * Example: \include Cwise_plus_equal.cpp
-  * Output: \verbinclude Cwise_plus_equal.out
-  *
-  * \sa operator+(), operator-=()
-  */
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this + scalar;
-}
-
-/** \array_module
-  *
-  * \returns an expression of \c *this with each coeff decremented by the constant \a scalar
-  *
-  * Example: \include Cwise_minus.cpp
-  * Output: \verbinclude Cwise_minus.out
-  *
-  * \sa operator+(), operator-=()
-  */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator-(const Scalar& scalar) const
-{
-  return *this + (-scalar);
-}
-
-/** \array_module
-  *
-  * Substracts the given \a scalar from each coeff of this expression.
-  *
-  * Example: \include Cwise_minus_equal.cpp
-  * Output: \verbinclude Cwise_minus_equal.out
-  *
-  * \sa operator+=(), operator-()
-  */
-
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this - scalar;
-}
-
-#endif // EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/extern/Eigen2/Eigen/src/Array/Functors.h b/extern/Eigen2/Eigen/src/Array/Functors.h
deleted file mode 100644
index c2c325a788e..00000000000
--- a/extern/Eigen2/Eigen/src/Array/Functors.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ARRAY_FUNCTORS_H
-#define EIGEN_ARRAY_FUNCTORS_H
-
-/** \internal
-  * \array_module
-  *
-  * \brief Template functor to add a scalar to a fixed other one
-  *
-  * \sa class CwiseUnaryOp, Array::operator+
-  */
-/* If you wonder why doing the ei_pset1() in packetOp() is an optimization check ei_scalar_multiple_op */
-template<typename Scalar>
-struct ei_scalar_add_op {
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  inline ei_scalar_add_op(const ei_scalar_add_op& other) : m_other(other.m_other) { }
-  inline ei_scalar_add_op(const Scalar& other) : m_other(other) { }
-  inline Scalar operator() (const Scalar& a) const { return a + m_other; }
-  inline const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_padd(a, ei_pset1(m_other)); }
-  const Scalar m_other;
-private:
-  ei_scalar_add_op& operator=(const ei_scalar_add_op&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_add_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = ei_packet_traits<Scalar>::size>1 }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the square root of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::sqrt()
-  */
-template<typename Scalar> struct ei_scalar_sqrt_op EIGEN_EMPTY_STRUCT {
-  inline const Scalar operator() (const Scalar& a) const { return ei_sqrt(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_sqrt_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the exponential of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::exp()
-  */
-template<typename Scalar> struct ei_scalar_exp_op EIGEN_EMPTY_STRUCT {
-  inline const Scalar operator() (const Scalar& a) const { return ei_exp(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_exp_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the logarithm of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::log()
-  */
-template<typename Scalar> struct ei_scalar_log_op EIGEN_EMPTY_STRUCT {
-  inline const Scalar operator() (const Scalar& a) const { return ei_log(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_log_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the cosine of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::cos()
-  */
-template<typename Scalar> struct ei_scalar_cos_op EIGEN_EMPTY_STRUCT {
-  inline const Scalar operator() (const Scalar& a) const { return ei_cos(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_cos_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the sine of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::sin()
-  */
-template<typename Scalar> struct ei_scalar_sin_op EIGEN_EMPTY_STRUCT {
-  inline const Scalar operator() (const Scalar& a) const { return ei_sin(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_sin_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to raise a scalar to a power
-  *
-  * \sa class CwiseUnaryOp, Cwise::pow
-  */
-template<typename Scalar>
-struct ei_scalar_pow_op {
-  // FIXME default copy constructors seems bugged with std::complex<>
-  inline ei_scalar_pow_op(const ei_scalar_pow_op& other) : m_exponent(other.m_exponent) { }
-  inline ei_scalar_pow_op(const Scalar& exponent) : m_exponent(exponent) {}
-  inline Scalar operator() (const Scalar& a) const { return ei_pow(a, m_exponent); }
-  const Scalar m_exponent;
-private:
-  ei_scalar_pow_op& operator=(const ei_scalar_pow_op&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_pow_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the inverse of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::inverse()
-  */
-template<typename Scalar>
-struct ei_scalar_inverse_op {
-  inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
-  template<typename PacketScalar>
-  inline const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pdiv(ei_pset1(Scalar(1)),a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_inverse_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = int(ei_packet_traits<Scalar>::size)>1 }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the square of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::square()
-  */
-template<typename Scalar>
-struct ei_scalar_square_op {
-  inline Scalar operator() (const Scalar& a) const { return a*a; }
-  template<typename PacketScalar>
-  inline const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pmul(a,a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_square_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = int(ei_packet_traits<Scalar>::size)>1 }; };
-
-/** \internal
-  *
-  * \array_module
-  *
-  * \brief Template functor to compute the cube of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::cube()
-  */
-template<typename Scalar>
-struct ei_scalar_cube_op {
-  inline Scalar operator() (const Scalar& a) const { return a*a*a; }
-  template<typename PacketScalar>
-  inline const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pmul(a,ei_pmul(a,a)); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_cube_op<Scalar> >
-{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = int(ei_packet_traits<Scalar>::size)>1 }; };
-
-// default ei_functor_traits for STL functors:
-
-template<typename T>
-struct ei_functor_traits<std::multiplies<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::divides<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::plus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::minus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::negate<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::logical_or<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::logical_and<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::logical_not<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::greater<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::less<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::greater_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::less_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::not_equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::binder2nd<T> >
-{ enum { Cost = ei_functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::binder1st<T> >
-{ enum { Cost = ei_functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::unary_negate<T> >
-{ enum { Cost = 1 + ei_functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct ei_functor_traits<std::binary_negate<T> >
-{ enum { Cost = 1 + ei_functor_traits<T>::Cost, PacketAccess = false }; };
-
-#ifdef EIGEN_STDEXT_SUPPORT
-
-template<typename T0,typename T1>
-struct ei_functor_traits<std::project1st<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct ei_functor_traits<std::project2nd<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct ei_functor_traits<std::select2nd<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct ei_functor_traits<std::select1st<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct ei_functor_traits<std::unary_compose<T0,T1> >
-{ enum { Cost = ei_functor_traits<T0>::Cost + ei_functor_traits<T1>::Cost, PacketAccess = false }; };
-
-template<typename T0,typename T1,typename T2>
-struct ei_functor_traits<std::binary_compose<T0,T1,T2> >
-{ enum { Cost = ei_functor_traits<T0>::Cost + ei_functor_traits<T1>::Cost + ei_functor_traits<T2>::Cost, PacketAccess = false }; };
-
-#endif // EIGEN_STDEXT_SUPPORT
-
-#endif // EIGEN_ARRAY_FUNCTORS_H
diff --git a/extern/Eigen2/Eigen/src/Array/Norms.h b/extern/Eigen2/Eigen/src/Array/Norms.h
deleted file mode 100644
index 6b92e6a099d..00000000000
--- a/extern/Eigen2/Eigen/src/Array/Norms.h
+++ /dev/null
@@ -1,80 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ARRAY_NORMS_H
-#define EIGEN_ARRAY_NORMS_H
-
-template<typename Derived, int p>
-struct ei_lpNorm_selector
-{
-  typedef typename NumTraits<typename ei_traits<Derived>::Scalar>::Real RealScalar;
-  inline static RealScalar run(const MatrixBase<Derived>& m)
-  {
-    return ei_pow(m.cwise().abs().cwise().pow(p).sum(), RealScalar(1)/p);
-  }
-};
-
-template<typename Derived>
-struct ei_lpNorm_selector<Derived, 1>
-{
-  inline static typename NumTraits<typename ei_traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
-  {
-    return m.cwise().abs().sum();
-  }
-};
-
-template<typename Derived>
-struct ei_lpNorm_selector<Derived, 2>
-{
-  inline static typename NumTraits<typename ei_traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
-  {
-    return m.norm();
-  }
-};
-
-template<typename Derived>
-struct ei_lpNorm_selector<Derived, Infinity>
-{
-  inline static typename NumTraits<typename ei_traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
-  {
-    return m.cwise().abs().maxCoeff();
-  }
-};
-
-/** \array_module
-  * 
-  * \returns the \f$ \ell^p \f$ norm of *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
-  *          of the coefficients of *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^p\infty \f$
-  *          norm, that is the maximum of the absolute values of the coefficients of *this.
-  *
-  * \sa norm()
-  */
-template<typename Derived>
-template<int p>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real MatrixBase<Derived>::lpNorm() const
-{
-  return ei_lpNorm_selector<Derived, p>::run(*this);
-}
-
-#endif // EIGEN_ARRAY_NORMS_H
diff --git a/extern/Eigen2/Eigen/src/Array/PartialRedux.h b/extern/Eigen2/Eigen/src/Array/PartialRedux.h
deleted file mode 100644
index 3a052ca8a3d..00000000000
--- a/extern/Eigen2/Eigen/src/Array/PartialRedux.h
+++ /dev/null
@@ -1,347 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_PARTIAL_REDUX_H
-#define EIGEN_PARTIAL_REDUX_H
-
-/** \array_module \ingroup Array
-  *
-  * \class PartialReduxExpr
-  *
-  * \brief Generic expression of a partially reduxed matrix
-  *
-  * \param MatrixType the type of the matrix we are applying the redux operation
-  * \param MemberOp type of the member functor
-  * \param Direction indicates the direction of the redux (Vertical or Horizontal)
-  *
-  * This class represents an expression of a partial redux operator of a matrix.
-  * It is the return type of PartialRedux functions,
-  * and most of the time this is the only way it is used.
-  *
-  * \sa class PartialRedux
-  */
-
-template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr;
-
-template<typename MatrixType, typename MemberOp, int Direction>
-struct ei_traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
-{
-  typedef typename MemberOp::result_type Scalar;
-  typedef typename MatrixType::Scalar InputScalar;
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_cleantype<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
-    Flags = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
-    TraversalSize = Direction==Vertical ? RowsAtCompileTime : ColsAtCompileTime
-  };
-  #if EIGEN_GNUC_AT_LEAST(3,4)
-  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
-  #else
-  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
-  #endif
-  enum {
-    CoeffReadCost = TraversalSize * ei_traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
-  };
-};
-
-template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr : ei_no_assignment_operator,
-  public MatrixBase<PartialReduxExpr<MatrixType, MemberOp, Direction> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(PartialReduxExpr)
-    typedef typename ei_traits<PartialReduxExpr>::MatrixTypeNested MatrixTypeNested;
-    typedef typename ei_traits<PartialReduxExpr>::_MatrixTypeNested _MatrixTypeNested;
-
-    PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
-      : m_matrix(mat), m_functor(func) {}
-
-    int rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
-    int cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
-
-    const Scalar coeff(int i, int j) const
-    {
-      if (Direction==Vertical)
-        return m_functor(m_matrix.col(j));
-      else
-        return m_functor(m_matrix.row(i));
-    }
-
-  protected:
-    const MatrixTypeNested m_matrix;
-    const MemberOp m_functor;
-};
-
-#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST)                           \
-  template <typename ResultType>                                    \
-  struct ei_member_##MEMBER EIGEN_EMPTY_STRUCT {                    \
-    typedef ResultType result_type;                                 \
-    template<typename Scalar, int Size> struct Cost                 \
-    { enum { value = COST }; };                                     \
-    template<typename Derived>                                      \
-    inline ResultType operator()(const MatrixBase<Derived>& mat) const     \
-    { return mat.MEMBER(); } \
-  }
-
-EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
-
-/** \internal */
-template <typename BinaryOp, typename Scalar>
-struct ei_member_redux {
-  typedef typename ei_result_of<
-                     BinaryOp(Scalar)
-                   >::type  result_type;
-  template<typename _Scalar, int Size> struct Cost
-  { enum { value = (Size-1) * ei_functor_traits<BinaryOp>::Cost }; };
-  ei_member_redux(const BinaryOp func) : m_functor(func) {}
-  template<typename Derived>
-  inline result_type operator()(const MatrixBase<Derived>& mat) const
-  { return mat.redux(m_functor); }
-  const BinaryOp m_functor;
-private:
-  ei_member_redux& operator=(const ei_member_redux&);
-};
-
-/** \array_module \ingroup Array
-  *
-  * \class PartialRedux
-  *
-  * \brief Pseudo expression providing partial reduction operations
-  *
-  * \param ExpressionType the type of the object on which to do partial reductions
-  * \param Direction indicates the direction of the redux (Vertical or Horizontal)
-  *
-  * This class represents a pseudo expression with partial reduction features.
-  * It is the return type of MatrixBase::colwise() and MatrixBase::rowwise()
-  * and most of the time this is the only way it is used.
-  *
-  * Example: \include MatrixBase_colwise.cpp
-  * Output: \verbinclude MatrixBase_colwise.out
-  *
-  * \sa MatrixBase::colwise(), MatrixBase::rowwise(), class PartialReduxExpr
-  */
-template<typename ExpressionType, int Direction> class PartialRedux
-{
-  public:
-
-    typedef typename ei_traits<ExpressionType>::Scalar Scalar;
-    typedef typename ei_meta_if<ei_must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::ret ExpressionTypeNested;
-
-    template<template<typename _Scalar> class Functor> struct ReturnType
-    {
-      typedef PartialReduxExpr<ExpressionType,
-                               Functor<typename ei_traits<ExpressionType>::Scalar>,
-                               Direction
-                              > Type;
-    };
-
-    template<typename BinaryOp> struct ReduxReturnType
-    {
-      typedef PartialReduxExpr<ExpressionType,
-                               ei_member_redux<BinaryOp,typename ei_traits<ExpressionType>::Scalar>,
-                               Direction
-                              > Type;
-    };
-
-    typedef typename ExpressionType::PlainMatrixType CrossReturnType;
-    
-    inline PartialRedux(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const ExpressionType& _expression() const { return m_matrix; }
-
-    template<typename BinaryOp>
-    const typename ReduxReturnType<BinaryOp>::Type
-    redux(const BinaryOp& func = BinaryOp()) const;
-
-    /** \returns a row (or column) vector expression of the smallest coefficient
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_minCoeff.cpp
-      * Output: \verbinclude PartialRedux_minCoeff.out
-      *
-      * \sa MatrixBase::minCoeff() */
-    const typename ReturnType<ei_member_minCoeff>::Type minCoeff() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression of the largest coefficient
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_maxCoeff.cpp
-      * Output: \verbinclude PartialRedux_maxCoeff.out
-      *
-      * \sa MatrixBase::maxCoeff() */
-    const typename ReturnType<ei_member_maxCoeff>::Type maxCoeff() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression of the squared norm
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_squaredNorm.cpp
-      * Output: \verbinclude PartialRedux_squaredNorm.out
-      *
-      * \sa MatrixBase::squaredNorm() */
-    const typename ReturnType<ei_member_squaredNorm>::Type squaredNorm() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_norm.cpp
-      * Output: \verbinclude PartialRedux_norm.out
-      *
-      * \sa MatrixBase::norm() */
-    const typename ReturnType<ei_member_norm>::Type norm() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression of the sum
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_sum.cpp
-      * Output: \verbinclude PartialRedux_sum.out
-      *
-      * \sa MatrixBase::sum() */
-    const typename ReturnType<ei_member_sum>::Type sum() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression representing
-      * whether \b all coefficients of each respective column (or row) are \c true.
-      *
-      * \sa MatrixBase::all() */
-    const typename ReturnType<ei_member_all>::Type all() const
-    { return _expression(); }
-
-    /** \returns a row (or column) vector expression representing
-      * whether \b at \b least one coefficient of each respective column (or row) is \c true.
-      *
-      * \sa MatrixBase::any() */
-    const typename ReturnType<ei_member_any>::Type any() const
-    { return _expression(); }
-    
-    /** \returns a row (or column) vector expression representing
-      * the number of \c true coefficients of each respective column (or row).
-      *
-      * Example: \include PartialRedux_count.cpp
-      * Output: \verbinclude PartialRedux_count.out
-      *
-      * \sa MatrixBase::count() */
-    const PartialReduxExpr<ExpressionType, ei_member_count<int>, Direction> count() const
-    { return _expression(); }
-
-    /** \returns a 3x3 matrix expression of the cross product
-      * of each column or row of the referenced expression with the \a other vector.
-      *
-      * \geometry_module
-      *
-      * \sa MatrixBase::cross() */
-    template<typename OtherDerived>
-    const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(CrossReturnType,3,3)
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
-      EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-      if(Direction==Vertical)
-        return (CrossReturnType()
-                                 << _expression().col(0).cross(other),
-                                    _expression().col(1).cross(other),
-                                    _expression().col(2).cross(other)).finished();
-      else
-        return (CrossReturnType() 
-                                 << _expression().row(0).cross(other),
-                                    _expression().row(1).cross(other),
-                                    _expression().row(2).cross(other)).finished();
-    }
-
-  protected:
-    ExpressionTypeNested m_matrix;
-
-  private:
-    PartialRedux& operator=(const PartialRedux&);
-};
-
-/** \array_module
-  *
-  * \returns a PartialRedux wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_colwise.cpp
-  * Output: \verbinclude MatrixBase_colwise.out
-  *
-  * \sa rowwise(), class PartialRedux
-  */
-template<typename Derived>
-inline const PartialRedux<Derived,Vertical>
-MatrixBase<Derived>::colwise() const
-{
-  return derived();
-}
-
-/** \array_module
-  *
-  * \returns a PartialRedux wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_rowwise.cpp
-  * Output: \verbinclude MatrixBase_rowwise.out
-  *
-  * \sa colwise(), class PartialRedux
-  */
-template<typename Derived>
-inline const PartialRedux<Derived,Horizontal>
-MatrixBase<Derived>::rowwise() const
-{
-  return derived();
-}
-
-/** \returns a row or column vector expression of \c *this reduxed by \a func
-  *
-  * The template parameter \a BinaryOp is the type of the functor
-  * of the custom redux operator. Note that func must be an associative operator.
-  *
-  * \sa class PartialRedux, MatrixBase::colwise(), MatrixBase::rowwise()
-  */
-template<typename ExpressionType, int Direction>
-template<typename BinaryOp>
-const typename PartialRedux<ExpressionType,Direction>::template ReduxReturnType<BinaryOp>::Type
-PartialRedux<ExpressionType,Direction>::redux(const BinaryOp& func) const
-{
-  return typename ReduxReturnType<BinaryOp>::Type(_expression(), func);
-}
-
-#endif // EIGEN_PARTIAL_REDUX_H
diff --git a/extern/Eigen2/Eigen/src/Cholesky/LDLT.h b/extern/Eigen2/Eigen/src/Cholesky/LDLT.h
deleted file mode 100644
index 205b78a6ded..00000000000
--- a/extern/Eigen2/Eigen/src/Cholesky/LDLT.h
+++ /dev/null
@@ -1,198 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_LDLT_H
-#define EIGEN_LDLT_H
-
-/** \ingroup cholesky_Module
-  *
-  * \class LDLT
-  *
-  * \brief Robust Cholesky decomposition of a matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LDL^T Cholesky decomposition
-  *
-  * This class performs a Cholesky decomposition without square root of a symmetric, positive definite
-  * matrix A such that A = L D L^* = U^* D U, where L is lower triangular with a unit diagonal
-  * and D is a diagonal matrix.
-  *
-  * Compared to a standard Cholesky decomposition, avoiding the square roots allows for faster and more
-  * stable computation.
-  *
-  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
-  * the strict lower part does not have to store correct values.
-  *
-  * \sa MatrixBase::ldlt(), class LLT
-  */
-template<typename MatrixType> class LDLT
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
-
-    LDLT(const MatrixType& matrix)
-      : m_matrix(matrix.rows(), matrix.cols())
-    {
-      compute(matrix);
-    }
-
-    /** \returns the lower triangular matrix L */
-    inline Part<MatrixType, UnitLowerTriangular> matrixL(void) const { return m_matrix; }
-
-    /** \returns the coefficients of the diagonal matrix D */
-    inline DiagonalCoeffs<MatrixType> vectorD(void) const { return m_matrix.diagonal(); }
-
-    /** \returns true if the matrix is positive definite */
-    inline bool isPositiveDefinite(void) const { return m_isPositiveDefinite; }
-
-    template<typename RhsDerived, typename ResultType>
-    bool solve(const MatrixBase<RhsDerived> &b, ResultType *result) const;
-
-    template<typename Derived>
-    bool solveInPlace(MatrixBase<Derived> &bAndX) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-    /** \internal
-      * Used to compute and store the cholesky decomposition A = L D L^* = U^* D U.
-      * The strict upper part is used during the decomposition, the strict lower
-      * part correspond to the coefficients of L (its diagonal is equal to 1 and
-      * is not stored), and the diagonal entries correspond to D.
-      */
-    MatrixType m_matrix;
-
-    bool m_isPositiveDefinite;
-};
-
-/** Compute / recompute the LLT decomposition A = L D L^* = U^* D U of \a matrix
-  */
-template<typename MatrixType>
-void LDLT<MatrixType>::compute(const MatrixType& a)
-{
-  assert(a.rows()==a.cols());
-  const int size = a.rows();
-  m_matrix.resize(size, size);
-  m_isPositiveDefinite = true;
-  const RealScalar eps = ei_sqrt(precision<Scalar>());
-
-  if (size<=1)
-  {
-    m_matrix = a;
-    return;
-  }
-
-  // Let's preallocate a temporay vector to evaluate the matrix-vector product into it.
-  // Unlike the standard LLT decomposition, here we cannot evaluate it to the destination
-  // matrix because it a sub-row which is not compatible suitable for efficient packet evaluation.
-  // (at least if we assume the matrix is col-major)
-  Matrix<Scalar,MatrixType::RowsAtCompileTime,1> _temporary(size);
-
-  // Note that, in this algorithm the rows of the strict upper part of m_matrix is used to store
-  // column vector, thus the strange .conjugate() and .transpose()...
-
-  m_matrix.row(0) = a.row(0).conjugate();
-  m_matrix.col(0).end(size-1) = m_matrix.row(0).end(size-1) / m_matrix.coeff(0,0);
-  for (int j = 1; j < size; ++j)
-  {
-    RealScalar tmp = ei_real(a.coeff(j,j) - (m_matrix.row(j).start(j) * m_matrix.col(j).start(j).conjugate()).coeff(0,0));
-    m_matrix.coeffRef(j,j) = tmp;
-
-    if (tmp < eps)
-    {
-      m_isPositiveDefinite = false;
-      return;
-    }
-
-    int endSize = size-j-1;
-    if (endSize>0)
-    {
-      _temporary.end(endSize) = ( m_matrix.block(j+1,0, endSize, j)
-                                  * m_matrix.col(j).start(j).conjugate() ).lazy();
-
-      m_matrix.row(j).end(endSize) = a.row(j).end(endSize).conjugate()
-                                   - _temporary.end(endSize).transpose();
-
-      m_matrix.col(j).end(endSize) = m_matrix.row(j).end(endSize) / tmp;
-    }
-  }
-}
-
-/** Computes the solution x of \f$ A x = b \f$ using the current decomposition of A.
-  * The result is stored in \a result
-  *
-  * \returns true in case of success, false otherwise.
-  *
-  * In other words, it computes \f$ b = A^{-1} b \f$ with
-  * \f$ {L^{*}}^{-1} D^{-1} L^{-1} b \f$ from right to left.
-  *
-  * \sa LDLT::solveInPlace(), MatrixBase::ldlt()
-  */
-template<typename MatrixType>
-template<typename RhsDerived, typename ResultType>
-bool LDLT<MatrixType>
-::solve(const MatrixBase<RhsDerived> &b, ResultType *result) const
-{
-  const int size = m_matrix.rows();
-  ei_assert(size==b.rows() && "LLT::solve(): invalid number of rows of the right hand side matrix b");
-  *result = b;
-  return solveInPlace(*result);
-}
-
-/** This is the \em in-place version of solve().
-  *
-  * \param bAndX represents both the right-hand side matrix b and result x.
-  *
-  * This version avoids a copy when the right hand side matrix b is not
-  * needed anymore.
-  *
-  * \sa LDLT::solve(), MatrixBase::ldlt()
-  */
-template<typename MatrixType>
-template<typename Derived>
-bool LDLT<MatrixType>::solveInPlace(MatrixBase<Derived> &bAndX) const
-{
-  const int size = m_matrix.rows();
-  ei_assert(size==bAndX.rows());
-  if (!m_isPositiveDefinite)
-    return false;
-  matrixL().solveTriangularInPlace(bAndX);
-  bAndX = (m_matrix.cwise().inverse().template part<Diagonal>() * bAndX).lazy();
-  m_matrix.adjoint().template part<UnitUpperTriangular>().solveTriangularInPlace(bAndX);
-  return true;
-}
-
-/** \cholesky_module
-  * \returns the Cholesky decomposition without square root of \c *this
-  */
-template<typename Derived>
-inline const LDLT<typename MatrixBase<Derived>::PlainMatrixType>
-MatrixBase<Derived>::ldlt() const
-{
-  return derived();
-}
-
-#endif // EIGEN_LDLT_H
diff --git a/extern/Eigen2/Eigen/src/Cholesky/LLT.h b/extern/Eigen2/Eigen/src/Cholesky/LLT.h
deleted file mode 100644
index 42c959f83a2..00000000000
--- a/extern/Eigen2/Eigen/src/Cholesky/LLT.h
+++ /dev/null
@@ -1,219 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_LLT_H
-#define EIGEN_LLT_H
-
-/** \ingroup cholesky_Module
-  *
-  * \class LLT
-  *
-  * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
-  *
-  * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
-  * matrix A such that A = LL^* = U^*U, where L is lower triangular.
-  *
-  * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like  D^*D x = b,
-  * for that purpose, we recommend the Cholesky decomposition without square root which is more stable
-  * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other
-  * situations like generalised eigen problems with hermitian matrices.
-  *
-  * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices,
-  * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations
-  * has a solution.
-  *
-  * \sa MatrixBase::llt(), class LDLT
-  */
- /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
-  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
-  * the strict lower part does not have to store correct values.
-  */
-template<typename MatrixType> class LLT
-{
-  private:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
-
-    enum {
-      PacketSize = ei_packet_traits<Scalar>::size,
-      AlignmentMask = int(PacketSize)-1
-    };
-
-  public:
-
-    /** 
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via LLT::compute(const MatrixType&).
-    */
-    LLT() : m_matrix(), m_isInitialized(false) {}
-
-    LLT(const MatrixType& matrix)
-      : m_matrix(matrix.rows(), matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix);
-    }
-
-    /** \returns the lower triangular matrix L */
-    inline Part<MatrixType, LowerTriangular> matrixL(void) const 
-    { 
-      ei_assert(m_isInitialized && "LLT is not initialized.");
-      return m_matrix; 
-    }
-    
-    /** \deprecated */
-    inline bool isPositiveDefinite(void) const { return m_isInitialized && m_isPositiveDefinite; }
-
-    template<typename RhsDerived, typename ResultType>
-    bool solve(const MatrixBase<RhsDerived> &b, ResultType *result) const;
-
-    template<typename Derived>
-    bool solveInPlace(MatrixBase<Derived> &bAndX) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-    /** \internal
-      * Used to compute and store L
-      * The strict upper part is not used and even not initialized.
-      */
-    MatrixType m_matrix;
-    bool m_isInitialized;
-    bool m_isPositiveDefinite;
-};
-
-/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix
-  */
-template<typename MatrixType>
-void LLT<MatrixType>::compute(const MatrixType& a)
-{
-  assert(a.rows()==a.cols());
-  m_isPositiveDefinite = true;
-  const int size = a.rows();
-  m_matrix.resize(size, size);
-  // The biggest overall is the point of reference to which further diagonals
-  // are compared; if any diagonal is negligible compared
-  // to the largest overall, the algorithm bails.  This cutoff is suggested
-  // in "Analysis of the Cholesky Decomposition of a Semi-definite Matrix" by
-  // Nicholas J. Higham. Also see "Accuracy and Stability of Numerical
-  // Algorithms" page 217, also by Higham.
-  const RealScalar cutoff = machine_epsilon<Scalar>() * size * a.diagonal().cwise().abs().maxCoeff();
-  RealScalar x;
-  x = ei_real(a.coeff(0,0));
-  m_matrix.coeffRef(0,0) = ei_sqrt(x);
-  if(size==1)
-  {
-    m_isInitialized = true;
-    return;
-  }
-  m_matrix.col(0).end(size-1) = a.row(0).end(size-1).adjoint() / ei_real(m_matrix.coeff(0,0));
-  for (int j = 1; j < size; ++j)
-  {
-    x = ei_real(a.coeff(j,j)) - m_matrix.row(j).start(j).squaredNorm();
-    if (x < cutoff)
-    {
-      m_isPositiveDefinite = false;
-      continue;
-    }
-
-    m_matrix.coeffRef(j,j) = x = ei_sqrt(x);
-
-    int endSize = size-j-1;
-    if (endSize>0) {
-      // Note that when all matrix columns have good alignment, then the following
-      // product is guaranteed to be optimal with respect to alignment.
-      m_matrix.col(j).end(endSize) =
-        (m_matrix.block(j+1, 0, endSize, j) * m_matrix.row(j).start(j).adjoint()).lazy();
-
-      // FIXME could use a.col instead of a.row
-      m_matrix.col(j).end(endSize) = (a.row(j).end(endSize).adjoint()
-        - m_matrix.col(j).end(endSize) ) / x;
-    }
-  }
-
-  m_isInitialized = true;
-}
-
-/** Computes the solution x of \f$ A x = b \f$ using the current decomposition of A.
-  * The result is stored in \a result
-  *
-  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
-  *
-  * In other words, it computes \f$ b = A^{-1} b \f$ with
-  * \f$ {L^{*}}^{-1} L^{-1} b \f$ from right to left.
-  *
-  * Example: \include LLT_solve.cpp
-  * Output: \verbinclude LLT_solve.out
-  *
-  * \sa LLT::solveInPlace(), MatrixBase::llt()
-  */
-template<typename MatrixType>
-template<typename RhsDerived, typename ResultType>
-bool LLT<MatrixType>::solve(const MatrixBase<RhsDerived> &b, ResultType *result) const
-{
-  ei_assert(m_isInitialized && "LLT is not initialized.");
-  const int size = m_matrix.rows();
-  ei_assert(size==b.rows() && "LLT::solve(): invalid number of rows of the right hand side matrix b");
-  return solveInPlace((*result) = b);
-}
-
-/** This is the \em in-place version of solve().
-  *
-  * \param bAndX represents both the right-hand side matrix b and result x.
-  *
-  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
-  *
-  * This version avoids a copy when the right hand side matrix b is not
-  * needed anymore.
-  *
-  * \sa LLT::solve(), MatrixBase::llt()
-  */
-template<typename MatrixType>
-template<typename Derived>
-bool LLT<MatrixType>::solveInPlace(MatrixBase<Derived> &bAndX) const
-{
-  ei_assert(m_isInitialized && "LLT is not initialized.");
-  const int size = m_matrix.rows();
-  ei_assert(size==bAndX.rows());
-  matrixL().solveTriangularInPlace(bAndX);
-  m_matrix.adjoint().template part<UpperTriangular>().solveTriangularInPlace(bAndX);
-  return true;
-}
-
-/** \cholesky_module
-  * \returns the LLT decomposition of \c *this
-  */
-template<typename Derived>
-inline const LLT<typename MatrixBase<Derived>::PlainMatrixType>
-MatrixBase<Derived>::llt() const
-{
-  return LLT<PlainMatrixType>(derived());
-}
-
-#endif // EIGEN_LLT_H
diff --git a/extern/Eigen2/Eigen/src/Core/Assign.h b/extern/Eigen2/Eigen/src/Core/Assign.h
deleted file mode 100644
index 57205075596..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Assign.h
+++ /dev/null
@@ -1,445 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ASSIGN_H
-#define EIGEN_ASSIGN_H
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for vectorization and unrolling
-***************************************************************************/
-
-template <typename Derived, typename OtherDerived>
-struct ei_assign_traits
-{
-public:
-  enum {
-    DstIsAligned = Derived::Flags & AlignedBit,
-    SrcIsAligned = OtherDerived::Flags & AlignedBit,
-    SrcAlignment = DstIsAligned && SrcIsAligned ? Aligned : Unaligned
-  };
-
-private:
-  enum {
-    InnerSize = int(Derived::Flags)&RowMajorBit
-              ? Derived::ColsAtCompileTime
-              : Derived::RowsAtCompileTime,
-    InnerMaxSize = int(Derived::Flags)&RowMajorBit
-              ? Derived::MaxColsAtCompileTime
-              : Derived::MaxRowsAtCompileTime,
-    PacketSize = ei_packet_traits<typename Derived::Scalar>::size
-  };
-
-  enum {
-    MightVectorize = (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit)
-                  && ((int(Derived::Flags)&RowMajorBit)==(int(OtherDerived::Flags)&RowMajorBit)),
-    MayInnerVectorize  = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0
-                       && int(DstIsAligned) && int(SrcIsAligned),
-    MayLinearVectorize = MightVectorize && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit),
-    MaySliceVectorize  = MightVectorize && int(InnerMaxSize)>=3*PacketSize /* slice vectorization can be slow, so we only
-      want it if the slices are big, which is indicated by InnerMaxSize rather than InnerSize, think of the case
-      of a dynamic block in a fixed-size matrix */
-  };
-
-public:
-  enum {
-    Vectorization = int(MayInnerVectorize)  ? int(InnerVectorization)
-                  : int(MayLinearVectorize) ? int(LinearVectorization)
-                  : int(MaySliceVectorize)  ? int(SliceVectorization)
-                                            : int(NoVectorization)
-  };
-
-private:
-  enum {
-    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * (int(Vectorization) == int(NoVectorization) ? 1 : int(PacketSize)),
-    MayUnrollCompletely = int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit),
-    MayUnrollInner      = int(InnerSize * OtherDerived::CoeffReadCost) <= int(UnrollingLimit)
-  };
-
-public:
-  enum {
-    Unrolling = (int(Vectorization) == int(InnerVectorization) || int(Vectorization) == int(NoVectorization))
-              ? (
-                   int(MayUnrollCompletely) ? int(CompleteUnrolling)
-                 : int(MayUnrollInner)      ? int(InnerUnrolling)
-                                            : int(NoUnrolling)
-                )
-              : int(Vectorization) == int(LinearVectorization)
-              ? ( int(MayUnrollCompletely) && int(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
-              : int(NoUnrolling)
-  };
-};
-
-/***************************************************************************
-* Part 2 : meta-unrollers
-***************************************************************************/
-
-/***********************
-*** No vectorization ***
-***********************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct ei_assign_novec_CompleteUnrolling
-{
-  enum {
-    row = int(Derived1::Flags)&RowMajorBit
-        ? Index / int(Derived1::ColsAtCompileTime)
-        : Index % Derived1::RowsAtCompileTime,
-    col = int(Derived1::Flags)&RowMajorBit
-        ? Index % int(Derived1::ColsAtCompileTime)
-        : Index / Derived1::RowsAtCompileTime
-  };
-
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.copyCoeff(row, col, src);
-    ei_assign_novec_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct ei_assign_novec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct ei_assign_novec_InnerUnrolling
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int row_or_col)
-  {
-    const bool rowMajor = int(Derived1::Flags)&RowMajorBit;
-    const int row = rowMajor ? row_or_col : Index;
-    const int col = rowMajor ? Index : row_or_col;
-    dst.copyCoeff(row, col, src);
-    ei_assign_novec_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, row_or_col);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct ei_assign_novec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct ei_assign_innervec_CompleteUnrolling
-{
-  enum {
-    row = int(Derived1::Flags)&RowMajorBit
-        ? Index / int(Derived1::ColsAtCompileTime)
-        : Index % Derived1::RowsAtCompileTime,
-    col = int(Derived1::Flags)&RowMajorBit
-        ? Index % int(Derived1::ColsAtCompileTime)
-        : Index / Derived1::RowsAtCompileTime,
-    SrcAlignment = ei_assign_traits<Derived1,Derived2>::SrcAlignment
-  };
-
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.template copyPacket<Derived2, Aligned, SrcAlignment>(row, col, src);
-    ei_assign_innervec_CompleteUnrolling<Derived1, Derived2,
-      Index+ei_packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct ei_assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct ei_assign_innervec_InnerUnrolling
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int row_or_col)
-  {
-    const int row = int(Derived1::Flags)&RowMajorBit ? row_or_col : Index;
-    const int col = int(Derived1::Flags)&RowMajorBit ? Index : row_or_col;
-    dst.template copyPacket<Derived2, Aligned, Aligned>(row, col, src);
-    ei_assign_innervec_InnerUnrolling<Derived1, Derived2,
-      Index+ei_packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, row_or_col);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct ei_assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Derived1, typename Derived2,
-         int Vectorization = ei_assign_traits<Derived1, Derived2>::Vectorization,
-         int Unrolling = ei_assign_traits<Derived1, Derived2>::Unrolling>
-struct ei_assign_impl;
-
-/***********************
-*** No vectorization ***
-***********************/
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, NoVectorization, NoUnrolling>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const int innerSize = dst.innerSize();
-    const int outerSize = dst.outerSize();
-    for(int j = 0; j < outerSize; ++j)
-      for(int i = 0; i < innerSize; ++i)
-      {
-        if(int(Derived1::Flags)&RowMajorBit)
-          dst.copyCoeff(j, i, src);
-        else
-          dst.copyCoeff(i, j, src);
-      }
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, NoVectorization, CompleteUnrolling>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    ei_assign_novec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, NoVectorization, InnerUnrolling>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const bool rowMajor = int(Derived1::Flags)&RowMajorBit;
-    const int innerSize = rowMajor ? Derived1::ColsAtCompileTime : Derived1::RowsAtCompileTime;
-    const int outerSize = dst.outerSize();
-    for(int j = 0; j < outerSize; ++j)
-      ei_assign_novec_InnerUnrolling<Derived1, Derived2, 0, innerSize>
-        ::run(dst, src, j);
-  }
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, InnerVectorization, NoUnrolling>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const int innerSize = dst.innerSize();
-    const int outerSize = dst.outerSize();
-    const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
-    for(int j = 0; j < outerSize; ++j)
-      for(int i = 0; i < innerSize; i+=packetSize)
-      {
-        if(int(Derived1::Flags)&RowMajorBit)
-          dst.template copyPacket<Derived2, Aligned, Aligned>(j, i, src);
-        else
-          dst.template copyPacket<Derived2, Aligned, Aligned>(i, j, src);
-      }
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, InnerVectorization, CompleteUnrolling>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    ei_assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, InnerVectorization, InnerUnrolling>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const bool rowMajor = int(Derived1::Flags)&RowMajorBit;
-    const int innerSize = rowMajor ? Derived1::ColsAtCompileTime : Derived1::RowsAtCompileTime;
-    const int outerSize = dst.outerSize();
-    for(int j = 0; j < outerSize; ++j)
-      ei_assign_innervec_InnerUnrolling<Derived1, Derived2, 0, innerSize>
-        ::run(dst, src, j);
-  }
-};
-
-/***************************
-*** Linear vectorization ***
-***************************/
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const int size = dst.size();
-    const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
-    const int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-                           : ei_alignmentOffset(&dst.coeffRef(0), size);
-    const int alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-
-    for(int index = 0; index < alignedStart; ++index)
-      dst.copyCoeff(index, src);
-
-    for(int index = alignedStart; index < alignedEnd; index += packetSize)
-    {
-      dst.template copyPacket<Derived2, Aligned, ei_assign_traits<Derived1,Derived2>::SrcAlignment>(index, src);
-    }
-
-    for(int index = alignedEnd; index < size; ++index)
-      dst.copyCoeff(index, src);
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, LinearVectorization, CompleteUnrolling>
-{
-  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const int size = Derived1::SizeAtCompileTime;
-    const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
-    const int alignedSize = (size/packetSize)*packetSize;
-
-    ei_assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src);
-    ei_assign_novec_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src);
-  }
-};
-
-/**************************
-*** Slice vectorization ***
-***************************/
-
-template<typename Derived1, typename Derived2>
-struct ei_assign_impl<Derived1, Derived2, SliceVectorization, NoUnrolling>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
-    const int packetAlignedMask = packetSize - 1;
-    const int innerSize = dst.innerSize();
-    const int outerSize = dst.outerSize();
-    const int alignedStep = (packetSize - dst.stride() % packetSize) & packetAlignedMask;
-    int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-                     : ei_alignmentOffset(&dst.coeffRef(0,0), innerSize);
-
-    for(int i = 0; i < outerSize; ++i)
-    {
-      const int alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
-
-      // do the non-vectorizable part of the assignment
-      for (int index = 0; index<alignedStart ; ++index)
-      {
-        if(Derived1::Flags&RowMajorBit)
-          dst.copyCoeff(i, index, src);
-        else
-          dst.copyCoeff(index, i, src);
-      }
-
-      // do the vectorizable part of the assignment
-      for (int index = alignedStart; index<alignedEnd; index+=packetSize)
-      {
-        if(Derived1::Flags&RowMajorBit)
-          dst.template copyPacket<Derived2, Aligned, Unaligned>(i, index, src);
-        else
-          dst.template copyPacket<Derived2, Aligned, Unaligned>(index, i, src);
-      }
-
-      // do the non-vectorizable part of the assignment
-      for (int index = alignedEnd; index<innerSize ; ++index)
-      {
-        if(Derived1::Flags&RowMajorBit)
-          dst.copyCoeff(i, index, src);
-        else
-          dst.copyCoeff(index, i, src);
-      }
-
-      alignedStart = std::min<int>((alignedStart+alignedStep)%packetSize, innerSize);
-    }
-  }
-};
-
-/***************************************************************************
-* Part 4 : implementation of MatrixBase methods
-***************************************************************************/
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>
-  ::lazyAssign(const MatrixBase<OtherDerived>& other)
-{
-  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  ei_assert(rows() == other.rows() && cols() == other.cols());
-  ei_assign_impl<Derived, OtherDerived>::run(derived(),other.derived());
-  return derived();
-}
-
-template<typename Derived, typename OtherDerived,
-         bool EvalBeforeAssigning = (int(OtherDerived::Flags) & EvalBeforeAssigningBit) != 0,
-         bool NeedToTranspose = Derived::IsVectorAtCompileTime
-                && OtherDerived::IsVectorAtCompileTime
-                && int(Derived::RowsAtCompileTime) == int(OtherDerived::ColsAtCompileTime)
-                && int(Derived::ColsAtCompileTime) == int(OtherDerived::RowsAtCompileTime)
-                && int(Derived::SizeAtCompileTime) != 1>
-struct ei_assign_selector;
-
-template<typename Derived, typename OtherDerived>
-struct ei_assign_selector<Derived,OtherDerived,false,false> {
-  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); }
-};
-template<typename Derived, typename OtherDerived>
-struct ei_assign_selector<Derived,OtherDerived,true,false> {
-  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); }
-};
-template<typename Derived, typename OtherDerived>
-struct ei_assign_selector<Derived,OtherDerived,false,true> {
-  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); }
-};
-template<typename Derived, typename OtherDerived>
-struct ei_assign_selector<Derived,OtherDerived,true,true> {
-  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); }
-};
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>
-  ::operator=(const MatrixBase<OtherDerived>& other)
-{
-  return ei_assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
-}
-
-#endif // EIGEN_ASSIGN_H
diff --git a/extern/Eigen2/Eigen/src/Core/Block.h b/extern/Eigen2/Eigen/src/Core/Block.h
deleted file mode 100644
index 7f422aa5c07..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Block.h
+++ /dev/null
@@ -1,752 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_BLOCK_H
-#define EIGEN_BLOCK_H
-
-/** \class Block
-  *
-  * \brief Expression of a fixed-size or dynamic-size block
-  *
-  * \param MatrixType the type of the object in which we are taking a block
-  * \param BlockRows the number of rows of the block we are taking at compile time (optional)
-  * \param BlockCols the number of columns of the block we are taking at compile time (optional)
-  * \param _PacketAccess allows to enforce aligned loads and stores if set to ForceAligned.
-  *                      The default is AsRequested. This parameter is internaly used by Eigen
-  *                      in expressions such as \code mat.block() += other; \endcode and most of
-  *                      the time this is the only way it is used.
-  * \param _DirectAccessStatus \internal used for partial specialization
-  *
-  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
-  * type of MatrixBase::block(int,int,int,int) and MatrixBase::block<int,int>(int,int) and
-  * most of the time this is the only way it is used.
-  *
-  * However, if you want to directly maniputate block expressions,
-  * for instance if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * Here is an example illustrating the dynamic case:
-  * \include class_Block.cpp
-  * Output: \verbinclude class_Block.out
-  *
-  * \note Even though this expression has dynamic size, in the case where \a MatrixType
-  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
-  * it does not cause a dynamic memory allocation.
-  *
-  * Here is an example illustrating the fixed-size case:
-  * \include class_FixedBlock.cpp
-  * Output: \verbinclude class_FixedBlock.out
-  *
-  * \sa MatrixBase::block(int,int,int,int), MatrixBase::block(int,int), class VectorBlock
-  */
-
-template<typename MatrixType, int BlockRows, int BlockCols, int _PacketAccess, int _DirectAccessStatus>
-struct ei_traits<Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectAccessStatus> >
-{
-  typedef typename ei_traits<MatrixType>::Scalar Scalar;
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum{
-    RowsAtCompileTime = ei_traits<MatrixType>::RowsAtCompileTime == 1 ? 1 : BlockRows,
-    ColsAtCompileTime = ei_traits<MatrixType>::ColsAtCompileTime == 1 ? 1 : BlockCols,
-    MaxRowsAtCompileTime = RowsAtCompileTime == 1 ? 1
-      : (BlockRows==Dynamic ? int(ei_traits<MatrixType>::MaxRowsAtCompileTime) : BlockRows),
-    MaxColsAtCompileTime = ColsAtCompileTime == 1 ? 1
-      : (BlockCols==Dynamic ? int(ei_traits<MatrixType>::MaxColsAtCompileTime) : BlockCols),
-    RowMajor = int(ei_traits<MatrixType>::Flags)&RowMajorBit,
-    InnerSize = RowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-    InnerMaxSize = RowMajor ? int(MaxColsAtCompileTime) : int(MaxRowsAtCompileTime),
-    MaskPacketAccessBit = (InnerMaxSize == Dynamic || (InnerSize >= ei_packet_traits<Scalar>::size))
-                        ? PacketAccessBit : 0,
-    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
-    Flags = (ei_traits<MatrixType>::Flags & (HereditaryBits | MaskPacketAccessBit | DirectAccessBit)) | FlagsLinearAccessBit,
-    CoeffReadCost = ei_traits<MatrixType>::CoeffReadCost,
-    PacketAccess = _PacketAccess
-  };
-  typedef typename ei_meta_if<int(PacketAccess)==ForceAligned,
-                 Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectAccessStatus>&,
-                 Block<MatrixType, BlockRows, BlockCols, ForceAligned, _DirectAccessStatus> >::ret AlignedDerivedType;
-};
-
-template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess, int _DirectAccessStatus> class Block
-  : public MatrixBase<Block<MatrixType, BlockRows, BlockCols, PacketAccess, _DirectAccessStatus> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
-
-    class InnerIterator;
-
-    /** Column or Row constructor
-      */
-    inline Block(const MatrixType& matrix, int i)
-      : m_matrix(matrix),
-        // It is a row if and only if BlockRows==1 and BlockCols==MatrixType::ColsAtCompileTime,
-        // and it is a column if and only if BlockRows==MatrixType::RowsAtCompileTime and BlockCols==1,
-        // all other cases are invalid.
-        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
-        m_startRow( (BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
-        m_blockRows(matrix.rows()), // if it is a row, then m_blockRows has a fixed-size of 1, so no pb to try to overwrite it
-        m_blockCols(matrix.cols())  // same for m_blockCols
-    {
-      ei_assert( (i>=0) && (
-          ((BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) && i<matrix.rows())
-        ||((BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) && i<matrix.cols())));
-    }
-
-    /** Fixed-size constructor
-      */
-    inline Block(const MatrixType& matrix, int startRow, int startCol)
-      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
-        m_blockRows(matrix.rows()), m_blockCols(matrix.cols())
-    {
-      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
-      ei_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= matrix.rows()
-          && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= matrix.cols());
-    }
-
-    /** Dynamic-size constructor
-      */
-    inline Block(const MatrixType& matrix,
-          int startRow, int startCol,
-          int blockRows, int blockCols)
-      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
-                          m_blockRows(blockRows), m_blockCols(blockCols)
-    {
-      ei_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
-          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      ei_assert(startRow >= 0 && blockRows >= 1 && startRow + blockRows <= matrix.rows()
-          && startCol >= 0 && blockCols >= 1 && startCol + blockCols <= matrix.cols());
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
-
-    inline int rows() const { return m_blockRows.value(); }
-    inline int cols() const { return m_blockCols.value(); }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      return m_matrix.const_cast_derived()
-               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline Scalar& coeffRef(int index)
-    {
-      return m_matrix.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(int row, int col) const
-    {
-      return m_matrix.template packet<Unaligned>
-              (row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    template<int LoadMode>
-    inline void writePacket(int row, int col, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<Unaligned>
-              (row + m_startRow.value(), col + m_startCol.value(), x);
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(int index) const
-    {
-      return m_matrix.template packet<Unaligned>
-              (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(int index, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<Unaligned>
-         (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-          m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), x);
-    }
-
-  protected:
-
-    const typename MatrixType::Nested m_matrix;
-    const ei_int_if_dynamic<MatrixType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
-    const ei_int_if_dynamic<MatrixType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
-    const ei_int_if_dynamic<RowsAtCompileTime> m_blockRows;
-    const ei_int_if_dynamic<ColsAtCompileTime> m_blockCols;
-};
-
-/** \internal */
-template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess>
-class Block<MatrixType,BlockRows,BlockCols,PacketAccess,HasDirectAccess>
-  : public MapBase<Block<MatrixType, BlockRows, BlockCols,PacketAccess,HasDirectAccess> >
-{
-  public:
-
-    _EIGEN_GENERIC_PUBLIC_INTERFACE(Block, MapBase<Block>)
-
-    class InnerIterator;
-    typedef typename ei_traits<Block>::AlignedDerivedType AlignedDerivedType;
-    friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==AsRequested?ForceAligned:AsRequested,HasDirectAccess>;
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
-
-    AlignedDerivedType _convertToForceAligned()
-    {
-      return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
-                    (m_matrix, Base::m_data, Base::m_rows.value(), Base::m_cols.value());
-    }
-
-    /** Column or Row constructor
-      */
-    inline Block(const MatrixType& matrix, int i)
-      : Base(&matrix.const_cast_derived().coeffRef(
-              (BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) ? i : 0,
-              (BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
-             BlockRows==1 ? 1 : matrix.rows(),
-             BlockCols==1 ? 1 : matrix.cols()),
-        m_matrix(matrix)
-    {
-      ei_assert( (i>=0) && (
-          ((BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) && i<matrix.rows())
-        ||((BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) && i<matrix.cols())));
-    }
-
-    /** Fixed-size constructor
-      */
-    inline Block(const MatrixType& matrix, int startRow, int startCol)
-      : Base(&matrix.const_cast_derived().coeffRef(startRow,startCol)), m_matrix(matrix)
-    {
-      ei_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= matrix.rows()
-             && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= matrix.cols());
-    }
-
-    /** Dynamic-size constructor
-      */
-    inline Block(const MatrixType& matrix,
-          int startRow, int startCol,
-          int blockRows, int blockCols)
-      : Base(&matrix.const_cast_derived().coeffRef(startRow,startCol), blockRows, blockCols),
-        m_matrix(matrix)
-    {
-      ei_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
-             && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      ei_assert(startRow >= 0 && blockRows >= 1 && startRow + blockRows <= matrix.rows()
-             && startCol >= 0 && blockCols >= 1 && startCol + blockCols <= matrix.cols());
-    }
-
-    inline int stride(void) const { return m_matrix.stride(); }
-
-  protected:
-
-    /** \internal used by allowAligned() */
-    inline Block(const MatrixType& matrix, const Scalar* data, int blockRows, int blockCols)
-      : Base(data, blockRows, blockCols), m_matrix(matrix)
-    {}
-
-    const typename MatrixType::Nested m_matrix;
-};
-
-/** \returns a dynamic-size expression of a block in *this.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  * \param blockRows the number of rows in the block
-  * \param blockCols the number of columns in the block
-  *
-  * \addexample BlockIntIntIntInt \label How to reference a sub-matrix (dynamic-size)
-  *
-  * Example: \include MatrixBase_block_int_int_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(int,int)
-  */
-template<typename Derived>
-inline typename BlockReturnType<Derived>::Type MatrixBase<Derived>
-  ::block(int startRow, int startCol, int blockRows, int blockCols)
-{
-  return typename BlockReturnType<Derived>::Type(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/** This is the const version of block(int,int,int,int). */
-template<typename Derived>
-inline const typename BlockReturnType<Derived>::Type MatrixBase<Derived>
-  ::block(int startRow, int startCol, int blockRows, int blockCols) const
-{
-  return typename BlockReturnType<Derived>::Type(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/** \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
-  *
-  * \only_for_vectors
-  *
-  * \addexample SegmentIntInt \label How to reference a sub-vector (dynamic size)
-  *
-  * \param start the first coefficient in the segment
-  * \param size the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_segment_int_int.cpp
-  * Output: \verbinclude MatrixBase_segment_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, segment(int)
-  */
-template<typename Derived>
-inline typename BlockReturnType<Derived>::SubVectorType MatrixBase<Derived>
-  ::segment(int start, int size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename BlockReturnType<Derived>::SubVectorType(derived(), RowsAtCompileTime == 1 ? 0 : start,
-                                   ColsAtCompileTime == 1 ? 0 : start,
-                                   RowsAtCompileTime == 1 ? 1 : size,
-                                   ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** This is the const version of segment(int,int).*/
-template<typename Derived>
-inline const typename BlockReturnType<Derived>::SubVectorType
-MatrixBase<Derived>::segment(int start, int size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename BlockReturnType<Derived>::SubVectorType(derived(), RowsAtCompileTime == 1 ? 0 : start,
-                                   ColsAtCompileTime == 1 ? 0 : start,
-                                   RowsAtCompileTime == 1 ? 1 : size,
-                                   ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** \returns a dynamic-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param size the number of coefficients in the block
-  *
-  * \addexample BlockInt \label How to reference a sub-vector (fixed-size)
-  *
-  * Example: \include MatrixBase_start_int.cpp
-  * Output: \verbinclude MatrixBase_start_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(int,int)
-  */
-template<typename Derived>
-inline typename BlockReturnType<Derived,Dynamic>::SubVectorType
-MatrixBase<Derived>::start(int size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,
-               RowsAtCompileTime == 1 ? 1 : Dynamic,
-               ColsAtCompileTime == 1 ? 1 : Dynamic>
-              (derived(), 0, 0,
-               RowsAtCompileTime == 1 ? 1 : size,
-               ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** This is the const version of start(int).*/
-template<typename Derived>
-inline const typename BlockReturnType<Derived,Dynamic>::SubVectorType
-MatrixBase<Derived>::start(int size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,
-               RowsAtCompileTime == 1 ? 1 : Dynamic,
-               ColsAtCompileTime == 1 ? 1 : Dynamic>
-              (derived(), 0, 0,
-               RowsAtCompileTime == 1 ? 1 : size,
-               ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** \returns a dynamic-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param size the number of coefficients in the block
-  *
-  * \addexample BlockEnd \label How to reference the end of a vector (fixed-size)
-  *
-  * Example: \include MatrixBase_end_int.cpp
-  * Output: \verbinclude MatrixBase_end_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(int,int)
-  */
-template<typename Derived>
-inline typename BlockReturnType<Derived,Dynamic>::SubVectorType
-MatrixBase<Derived>::end(int size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,
-               RowsAtCompileTime == 1 ? 1 : Dynamic,
-               ColsAtCompileTime == 1 ? 1 : Dynamic>
-              (derived(),
-               RowsAtCompileTime == 1 ? 0 : rows() - size,
-               ColsAtCompileTime == 1 ? 0 : cols() - size,
-               RowsAtCompileTime == 1 ? 1 : size,
-               ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** This is the const version of end(int).*/
-template<typename Derived>
-inline const typename BlockReturnType<Derived,Dynamic>::SubVectorType
-MatrixBase<Derived>::end(int size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,
-               RowsAtCompileTime == 1 ? 1 : Dynamic,
-               ColsAtCompileTime == 1 ? 1 : Dynamic>
-              (derived(),
-               RowsAtCompileTime == 1 ? 0 : rows() - size,
-               ColsAtCompileTime == 1 ? 0 : cols() - size,
-               RowsAtCompileTime == 1 ? 1 : size,
-               ColsAtCompileTime == 1 ? 1 : size);
-}
-
-/** \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
-  *
-  * \only_for_vectors
-  *
-  * The template parameter \a Size is the number of coefficients in the block
-  *
-  * \param start the index of the first element of the sub-vector
-  *
-  * Example: \include MatrixBase_template_int_segment.cpp
-  * Output: \verbinclude MatrixBase_template_int_segment.out
-  *
-  * \sa class Block
-  */
-template<typename Derived>
-template<int Size>
-inline typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::segment(int start)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,  (RowsAtCompileTime == 1 ? 1 : Size),
-                         (ColsAtCompileTime == 1 ? 1 : Size)>
-              (derived(), RowsAtCompileTime == 1 ? 0 : start,
-                          ColsAtCompileTime == 1 ? 0 : start);
-}
-
-/** This is the const version of segment<int>(int).*/
-template<typename Derived>
-template<int Size>
-inline const typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::segment(int start) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived,  (RowsAtCompileTime == 1 ? 1 : Size),
-                         (ColsAtCompileTime == 1 ? 1 : Size)>
-              (derived(), RowsAtCompileTime == 1 ? 0 : start,
-                          ColsAtCompileTime == 1 ? 0 : start);
-}
-
-/** \returns a fixed-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * The template parameter \a Size is the number of coefficients in the block
-  *
-  * \addexample BlockStart \label How to reference the start of a vector (fixed-size)
-  *
-  * Example: \include MatrixBase_template_int_start.cpp
-  * Output: \verbinclude MatrixBase_template_int_start.out
-  *
-  * \sa class Block
-  */
-template<typename Derived>
-template<int Size>
-inline typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::start()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived, (RowsAtCompileTime == 1 ? 1 : Size),
-                        (ColsAtCompileTime == 1 ? 1 : Size)>(derived(), 0, 0);
-}
-
-/** This is the const version of start<int>().*/
-template<typename Derived>
-template<int Size>
-inline const typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::start() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived, (RowsAtCompileTime == 1 ? 1 : Size),
-                        (ColsAtCompileTime == 1 ? 1 : Size)>(derived(), 0, 0);
-}
-
-/** \returns a fixed-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * The template parameter \a Size is the number of coefficients in the block
-  *
-  * Example: \include MatrixBase_template_int_end.cpp
-  * Output: \verbinclude MatrixBase_template_int_end.out
-  *
-  * \sa class Block
-  */
-template<typename Derived>
-template<int Size>
-inline typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::end()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived, RowsAtCompileTime == 1 ? 1 : Size,
-                        ColsAtCompileTime == 1 ? 1 : Size>
-           (derived(),
-            RowsAtCompileTime == 1 ? 0 : rows() - Size,
-            ColsAtCompileTime == 1 ? 0 : cols() - Size);
-}
-
-/** This is the const version of end<int>.*/
-template<typename Derived>
-template<int Size>
-inline const typename BlockReturnType<Derived,Size>::SubVectorType
-MatrixBase<Derived>::end() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return Block<Derived, RowsAtCompileTime == 1 ? 1 : Size,
-                        ColsAtCompileTime == 1 ? 1 : Size>
-           (derived(),
-            RowsAtCompileTime == 1 ? 0 : rows() - Size,
-            ColsAtCompileTime == 1 ? 0 : cols() - Size);
-}
-
-/** \returns a dynamic-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * \addexample BlockCornerDynamicSize \label How to reference a sub-corner of a matrix
-  *
-  * Example: \include MatrixBase_corner_enum_int_int.cpp
-  * Output: \verbinclude MatrixBase_corner_enum_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(int,int,int,int)
-  */
-template<typename Derived>
-inline typename BlockReturnType<Derived>::Type MatrixBase<Derived>
-  ::corner(CornerType type, int cRows, int cCols)
-{
-  switch(type)
-  {
-    default:
-      ei_assert(false && "Bad corner type.");
-    case TopLeft:
-      return typename BlockReturnType<Derived>::Type(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return typename BlockReturnType<Derived>::Type(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return typename BlockReturnType<Derived>::Type(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return typename BlockReturnType<Derived>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** This is the const version of corner(CornerType, int, int).*/
-template<typename Derived>
-inline const typename BlockReturnType<Derived>::Type
-MatrixBase<Derived>::corner(CornerType type, int cRows, int cCols) const
-{
-  switch(type)
-  {
-    default:
-      ei_assert(false && "Bad corner type.");
-    case TopLeft:
-      return typename BlockReturnType<Derived>::Type(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return typename BlockReturnType<Derived>::Type(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return typename BlockReturnType<Derived>::Type(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return typename BlockReturnType<Derived>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** \returns a fixed-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  *
-  * The template parameters CRows and CCols arethe number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_corner_enum.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_corner_enum.out
-  *
-  * \sa class Block, block(int,int,int,int)
-  */
-template<typename Derived>
-template<int CRows, int CCols>
-inline typename BlockReturnType<Derived, CRows, CCols>::Type
-MatrixBase<Derived>::corner(CornerType type)
-{
-  switch(type)
-  {
-    default:
-      ei_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-/** This is the const version of corner<int, int>(CornerType).*/
-template<typename Derived>
-template<int CRows, int CCols>
-inline const typename BlockReturnType<Derived, CRows, CCols>::Type
-MatrixBase<Derived>::corner(CornerType type) const
-{
-  switch(type)
-  {
-    default:
-      ei_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-/** \returns a fixed-size expression of a block in *this.
-  *
-  * The template parameters \a BlockRows and \a BlockCols are the number of
-  * rows and columns in the block.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  *
-  * \addexample BlockSubMatrixFixedSize \label How to reference a sub-matrix (fixed-size)
-  *
-  * Example: \include MatrixBase_block_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int.out
-  *
-  * \note since block is a templated member, the keyword template has to be used
-  * if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
-  *
-  * \sa class Block, block(int,int,int,int)
-  */
-template<typename Derived>
-template<int BlockRows, int BlockCols>
-inline typename BlockReturnType<Derived, BlockRows, BlockCols>::Type
-MatrixBase<Derived>::block(int startRow, int startCol)
-{
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
-}
-
-/** This is the const version of block<>(int, int). */
-template<typename Derived>
-template<int BlockRows, int BlockCols>
-inline const typename BlockReturnType<Derived, BlockRows, BlockCols>::Type
-MatrixBase<Derived>::block(int startRow, int startCol) const
-{
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
-}
-
-/** \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
-  *
-  * \addexample BlockColumn \label How to reference a single column of a matrix
-  *
-  * Example: \include MatrixBase_col.cpp
-  * Output: \verbinclude MatrixBase_col.out
-  *
-  * \sa row(), class Block */
-template<typename Derived>
-inline typename MatrixBase<Derived>::ColXpr
-MatrixBase<Derived>::col(int i)
-{
-  return ColXpr(derived(), i);
-}
-
-/** This is the const version of col(). */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::ColXpr
-MatrixBase<Derived>::col(int i) const
-{
-  return ColXpr(derived(), i);
-}
-
-/** \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
-  *
-  * \addexample BlockRow \label How to reference a single row of a matrix
-  *
-  * Example: \include MatrixBase_row.cpp
-  * Output: \verbinclude MatrixBase_row.out
-  *
-  * \sa col(), class Block */
-template<typename Derived>
-inline typename MatrixBase<Derived>::RowXpr
-MatrixBase<Derived>::row(int i)
-{
-  return RowXpr(derived(), i);
-}
-
-/** This is the const version of row(). */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::RowXpr
-MatrixBase<Derived>::row(int i) const
-{
-  return RowXpr(derived(), i);
-}
-
-#endif // EIGEN_BLOCK_H
diff --git a/extern/Eigen2/Eigen/src/Core/CacheFriendlyProduct.h b/extern/Eigen2/Eigen/src/Core/CacheFriendlyProduct.h
deleted file mode 100644
index b1362b0a80c..00000000000
--- a/extern/Eigen2/Eigen/src/Core/CacheFriendlyProduct.h
+++ /dev/null
@@ -1,753 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_CACHE_FRIENDLY_PRODUCT_H
-#define EIGEN_CACHE_FRIENDLY_PRODUCT_H
-
-template <int L2MemorySize,typename Scalar>
-struct ei_L2_block_traits {
-  enum {width = 8 * ei_meta_sqrt<L2MemorySize/(64*sizeof(Scalar))>::ret };
-};
-
-#ifndef EIGEN_EXTERN_INSTANTIATIONS
-
-template<typename Scalar>
-static void ei_cache_friendly_product(
-  int _rows, int _cols, int depth,
-  bool _lhsRowMajor, const Scalar* _lhs, int _lhsStride,
-  bool _rhsRowMajor, const Scalar* _rhs, int _rhsStride,
-  bool resRowMajor, Scalar* res, int resStride)
-{
-  const Scalar* EIGEN_RESTRICT lhs;
-  const Scalar* EIGEN_RESTRICT rhs;
-  int lhsStride, rhsStride, rows, cols;
-  bool lhsRowMajor;
-
-  if (resRowMajor)
-  {
-    lhs = _rhs;
-    rhs = _lhs;
-    lhsStride = _rhsStride;
-    rhsStride = _lhsStride;
-    cols = _rows;
-    rows = _cols;
-    lhsRowMajor = !_rhsRowMajor;
-    ei_assert(_lhsRowMajor);
-  }
-  else
-  {
-    lhs = _lhs;
-    rhs = _rhs;
-    lhsStride = _lhsStride;
-    rhsStride = _rhsStride;
-    rows = _rows;
-    cols = _cols;
-    lhsRowMajor = _lhsRowMajor;
-    ei_assert(!_rhsRowMajor);
-  }
-
-  typedef typename ei_packet_traits<Scalar>::type PacketType;
-
-  enum {
-    PacketSize = sizeof(PacketType)/sizeof(Scalar),
-    #if (defined __i386__)
-    // i386 architecture provides only 8 xmm registers,
-    // so let's reduce the max number of rows processed at once.
-    MaxBlockRows = 4,
-    MaxBlockRows_ClampingMask = 0xFFFFFC,
-    #else
-    MaxBlockRows = 8,
-    MaxBlockRows_ClampingMask = 0xFFFFF8,
-    #endif
-    // maximal size of the blocks fitted in L2 cache
-    MaxL2BlockSize = ei_L2_block_traits<EIGEN_TUNE_FOR_CPU_CACHE_SIZE,Scalar>::width
-  };
-
-  const bool resIsAligned = (PacketSize==1) || (((resStride%PacketSize) == 0) && (size_t(res)%16==0));
-
-  const int remainingSize = depth % PacketSize;
-  const int size = depth - remainingSize; // third dimension of the product clamped to packet boundaries
-  const int l2BlockRows = MaxL2BlockSize > rows ? rows : MaxL2BlockSize;
-  const int l2BlockCols = MaxL2BlockSize > cols ? cols : MaxL2BlockSize;
-  const int l2BlockSize = MaxL2BlockSize > size ? size : MaxL2BlockSize;
-  const int l2BlockSizeAligned = (1 + std::max(l2BlockSize,l2BlockCols)/PacketSize)*PacketSize;
-  const bool needRhsCopy = (PacketSize>1) && ((rhsStride%PacketSize!=0) || (size_t(rhs)%16!=0));
-  Scalar* EIGEN_RESTRICT block = 0;
-  const int allocBlockSize = l2BlockRows*size;
-  block = ei_aligned_stack_new(Scalar, allocBlockSize);
-  Scalar* EIGEN_RESTRICT rhsCopy
-    = ei_aligned_stack_new(Scalar, l2BlockSizeAligned*l2BlockSizeAligned);
-
-  // loops on each L2 cache friendly blocks of the result
-  for(int l2i=0; l2i<rows; l2i+=l2BlockRows)
-  {
-    const int l2blockRowEnd = std::min(l2i+l2BlockRows, rows);
-    const int l2blockRowEndBW = l2blockRowEnd & MaxBlockRows_ClampingMask;    // end of the rows aligned to bw
-    const int l2blockRemainingRows = l2blockRowEnd - l2blockRowEndBW;         // number of remaining rows
-    //const int l2blockRowEndBWPlusOne = l2blockRowEndBW + (l2blockRemainingRows?0:MaxBlockRows);
-
-    // build a cache friendly blocky matrix
-    int count = 0;
-
-    // copy l2blocksize rows of m_lhs to blocks of ps x bw
-    for(int l2k=0; l2k<size; l2k+=l2BlockSize)
-    {
-      const int l2blockSizeEnd = std::min(l2k+l2BlockSize, size);
-
-      for (int i = l2i; i<l2blockRowEndBW/*PlusOne*/; i+=MaxBlockRows)
-      {
-        // TODO merge the "if l2blockRemainingRows" using something like:
-        // const int blockRows = std::min(i+MaxBlockRows, rows) - i;
-
-        for (int k=l2k; k<l2blockSizeEnd; k+=PacketSize)
-        {
-          // TODO write these loops using meta unrolling
-          // negligible for large matrices but useful for small ones
-          if (lhsRowMajor)
-          {
-            for (int w=0; w<MaxBlockRows; ++w)
-              for (int s=0; s<PacketSize; ++s)
-                block[count++] = lhs[(i+w)*lhsStride + (k+s)];
-          }
-          else
-          {
-            for (int w=0; w<MaxBlockRows; ++w)
-              for (int s=0; s<PacketSize; ++s)
-                block[count++] = lhs[(i+w) + (k+s)*lhsStride];
-          }
-        }
-      }
-      if (l2blockRemainingRows>0)
-      {
-        for (int k=l2k; k<l2blockSizeEnd; k+=PacketSize)
-        {
-          if (lhsRowMajor)
-          {
-            for (int w=0; w<l2blockRemainingRows; ++w)
-              for (int s=0; s<PacketSize; ++s)
-                block[count++] = lhs[(l2blockRowEndBW+w)*lhsStride + (k+s)];
-          }
-          else
-          {
-            for (int w=0; w<l2blockRemainingRows; ++w)
-              for (int s=0; s<PacketSize; ++s)
-                block[count++] = lhs[(l2blockRowEndBW+w) + (k+s)*lhsStride];
-          }
-        }
-      }
-    }
-
-    for(int l2j=0; l2j<cols; l2j+=l2BlockCols)
-    {
-      int l2blockColEnd = std::min(l2j+l2BlockCols, cols);
-
-      for(int l2k=0; l2k<size; l2k+=l2BlockSize)
-      {
-        // acumulate bw rows of lhs time a single column of rhs to a bw x 1 block of res
-        int l2blockSizeEnd = std::min(l2k+l2BlockSize, size);
-
-        // if not aligned, copy the rhs block
-        if (needRhsCopy)
-          for(int l1j=l2j; l1j<l2blockColEnd; l1j+=1)
-          {
-            ei_internal_assert(l2BlockSizeAligned*(l1j-l2j)+(l2blockSizeEnd-l2k) < l2BlockSizeAligned*l2BlockSizeAligned);
-            memcpy(rhsCopy+l2BlockSizeAligned*(l1j-l2j),&(rhs[l1j*rhsStride+l2k]),(l2blockSizeEnd-l2k)*sizeof(Scalar));
-          }
-
-        // for each bw x 1 result's block
-        for(int l1i=l2i; l1i<l2blockRowEndBW; l1i+=MaxBlockRows)
-        {
-          int offsetblock = l2k * (l2blockRowEnd-l2i) + (l1i-l2i)*(l2blockSizeEnd-l2k) - l2k*MaxBlockRows;
-          const Scalar* EIGEN_RESTRICT localB = &block[offsetblock];
-
-          for(int l1j=l2j; l1j<l2blockColEnd; l1j+=1)
-          {
-            const Scalar* EIGEN_RESTRICT rhsColumn;
-            if (needRhsCopy)
-              rhsColumn = &(rhsCopy[l2BlockSizeAligned*(l1j-l2j)-l2k]);
-            else
-              rhsColumn = &(rhs[l1j*rhsStride]);
-
-            PacketType dst[MaxBlockRows];
-            dst[3] = dst[2] = dst[1] = dst[0] = ei_pset1(Scalar(0.));
-            if (MaxBlockRows==8)
-              dst[7] = dst[6] = dst[5] = dst[4] = dst[0];
-
-            PacketType tmp;
-
-            for(int k=l2k; k<l2blockSizeEnd; k+=PacketSize)
-            {
-              tmp = ei_ploadu(&rhsColumn[k]);
-              PacketType A0, A1, A2, A3, A4, A5;
-              A0 = ei_pload(localB + k*MaxBlockRows);
-              A1 = ei_pload(localB + k*MaxBlockRows+1*PacketSize);
-              A2 = ei_pload(localB + k*MaxBlockRows+2*PacketSize);
-              A3 = ei_pload(localB + k*MaxBlockRows+3*PacketSize);
-              if (MaxBlockRows==8) A4 = ei_pload(localB + k*MaxBlockRows+4*PacketSize);
-              if (MaxBlockRows==8) A5 = ei_pload(localB + k*MaxBlockRows+5*PacketSize);
-              dst[0] = ei_pmadd(tmp, A0, dst[0]);
-              if (MaxBlockRows==8) A0 = ei_pload(localB + k*MaxBlockRows+6*PacketSize);
-              dst[1] = ei_pmadd(tmp, A1, dst[1]);
-              if (MaxBlockRows==8) A1 = ei_pload(localB + k*MaxBlockRows+7*PacketSize);
-              dst[2] = ei_pmadd(tmp, A2, dst[2]);
-              dst[3] = ei_pmadd(tmp, A3, dst[3]);
-              if (MaxBlockRows==8)
-              {
-                dst[4] = ei_pmadd(tmp, A4, dst[4]);
-                dst[5] = ei_pmadd(tmp, A5, dst[5]);
-                dst[6] = ei_pmadd(tmp, A0, dst[6]);
-                dst[7] = ei_pmadd(tmp, A1, dst[7]);
-              }
-            }
-
-            Scalar* EIGEN_RESTRICT localRes = &(res[l1i + l1j*resStride]);
-
-            if (PacketSize>1 && resIsAligned)
-            {
-              // the result is aligned: let's do packet reduction
-              ei_pstore(&(localRes[0]), ei_padd(ei_pload(&(localRes[0])), ei_preduxp(&dst[0])));
-              if (PacketSize==2)
-                ei_pstore(&(localRes[2]), ei_padd(ei_pload(&(localRes[2])), ei_preduxp(&(dst[2]))));
-              if (MaxBlockRows==8)
-              {
-                ei_pstore(&(localRes[4]), ei_padd(ei_pload(&(localRes[4])), ei_preduxp(&(dst[4]))));
-                if (PacketSize==2)
-                  ei_pstore(&(localRes[6]), ei_padd(ei_pload(&(localRes[6])), ei_preduxp(&(dst[6]))));
-              }
-            }
-            else
-            {
-              // not aligned => per coeff packet reduction
-              localRes[0] += ei_predux(dst[0]);
-              localRes[1] += ei_predux(dst[1]);
-              localRes[2] += ei_predux(dst[2]);
-              localRes[3] += ei_predux(dst[3]);
-              if (MaxBlockRows==8)
-              {
-                localRes[4] += ei_predux(dst[4]);
-                localRes[5] += ei_predux(dst[5]);
-                localRes[6] += ei_predux(dst[6]);
-                localRes[7] += ei_predux(dst[7]);
-              }
-            }
-          }
-        }
-        if (l2blockRemainingRows>0)
-        {
-          int offsetblock = l2k * (l2blockRowEnd-l2i) + (l2blockRowEndBW-l2i)*(l2blockSizeEnd-l2k) - l2k*l2blockRemainingRows;
-          const Scalar* localB = &block[offsetblock];
-
-          for(int l1j=l2j; l1j<l2blockColEnd; l1j+=1)
-          {
-            const Scalar* EIGEN_RESTRICT rhsColumn;
-            if (needRhsCopy)
-              rhsColumn = &(rhsCopy[l2BlockSizeAligned*(l1j-l2j)-l2k]);
-            else
-              rhsColumn = &(rhs[l1j*rhsStride]);
-
-            PacketType dst[MaxBlockRows];
-            dst[3] = dst[2] = dst[1] = dst[0] = ei_pset1(Scalar(0.));
-            if (MaxBlockRows==8)
-              dst[7] = dst[6] = dst[5] = dst[4] = dst[0];
-
-            // let's declare a few other temporary registers
-            PacketType tmp;
-
-            for(int k=l2k; k<l2blockSizeEnd; k+=PacketSize)
-            {
-              tmp = ei_pload(&rhsColumn[k]);
-
-                                           dst[0] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows             ])), dst[0]);
-              if (l2blockRemainingRows>=2) dst[1] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+  PacketSize])), dst[1]);
-              if (l2blockRemainingRows>=3) dst[2] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+2*PacketSize])), dst[2]);
-              if (l2blockRemainingRows>=4) dst[3] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+3*PacketSize])), dst[3]);
-              if (MaxBlockRows==8)
-              {
-                if (l2blockRemainingRows>=5) dst[4] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+4*PacketSize])), dst[4]);
-                if (l2blockRemainingRows>=6) dst[5] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+5*PacketSize])), dst[5]);
-                if (l2blockRemainingRows>=7) dst[6] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+6*PacketSize])), dst[6]);
-                if (l2blockRemainingRows>=8) dst[7] = ei_pmadd(tmp, ei_pload(&(localB[k*l2blockRemainingRows+7*PacketSize])), dst[7]);
-              }
-            }
-
-            Scalar* EIGEN_RESTRICT localRes = &(res[l2blockRowEndBW + l1j*resStride]);
-
-            // process the remaining rows once at a time
-                                         localRes[0] += ei_predux(dst[0]);
-            if (l2blockRemainingRows>=2) localRes[1] += ei_predux(dst[1]);
-            if (l2blockRemainingRows>=3) localRes[2] += ei_predux(dst[2]);
-            if (l2blockRemainingRows>=4) localRes[3] += ei_predux(dst[3]);
-            if (MaxBlockRows==8)
-            {
-              if (l2blockRemainingRows>=5) localRes[4] += ei_predux(dst[4]);
-              if (l2blockRemainingRows>=6) localRes[5] += ei_predux(dst[5]);
-              if (l2blockRemainingRows>=7) localRes[6] += ei_predux(dst[6]);
-              if (l2blockRemainingRows>=8) localRes[7] += ei_predux(dst[7]);
-            }
-
-          }
-        }
-      }
-    }
-  }
-  if (PacketSize>1 && remainingSize)
-  {
-    if (lhsRowMajor)
-    {
-      for (int j=0; j<cols; ++j)
-        for (int i=0; i<rows; ++i)
-        {
-          Scalar tmp = lhs[i*lhsStride+size] * rhs[j*rhsStride+size];
-          // FIXME this loop get vectorized by the compiler !
-          for (int k=1; k<remainingSize; ++k)
-            tmp += lhs[i*lhsStride+size+k] * rhs[j*rhsStride+size+k];
-          res[i+j*resStride] += tmp;
-        }
-    }
-    else
-    {
-      for (int j=0; j<cols; ++j)
-        for (int i=0; i<rows; ++i)
-        {
-          Scalar tmp = lhs[i+size*lhsStride] * rhs[j*rhsStride+size];
-          for (int k=1; k<remainingSize; ++k)
-            tmp += lhs[i+(size+k)*lhsStride] * rhs[j*rhsStride+size+k];
-          res[i+j*resStride] += tmp;
-        }
-    }
-  }
-
-  ei_aligned_stack_delete(Scalar, block, allocBlockSize);
-  ei_aligned_stack_delete(Scalar, rhsCopy, l2BlockSizeAligned*l2BlockSizeAligned);
-}
-
-#endif // EIGEN_EXTERN_INSTANTIATIONS
-
-/* Optimized col-major matrix * vector product:
- * This algorithm processes 4 columns at onces that allows to both reduce
- * the number of load/stores of the result by a factor 4 and to reduce
- * the instruction dependency. Moreover, we know that all bands have the
- * same alignment pattern.
- * TODO: since rhs gets evaluated only once, no need to evaluate it
- */
-template<typename Scalar, typename RhsType>
-static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
-  int size,
-  const Scalar* lhs, int lhsStride,
-  const RhsType& rhs,
-  Scalar* res)
-{
-  #ifdef _EIGEN_ACCUMULATE_PACKETS
-  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
-  #endif
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
-    ei_pstore(&res[j], \
-      ei_padd(ei_pload(&res[j]), \
-        ei_padd( \
-          ei_padd(ei_pmul(ptmp0,EIGEN_CAT(ei_ploa , A0)(&lhs0[j])), \
-                  ei_pmul(ptmp1,EIGEN_CAT(ei_ploa , A13)(&lhs1[j]))), \
-          ei_padd(ei_pmul(ptmp2,EIGEN_CAT(ei_ploa , A2)(&lhs2[j])), \
-                  ei_pmul(ptmp3,EIGEN_CAT(ei_ploa , A13)(&lhs3[j]))) )))
-
-  typedef typename ei_packet_traits<Scalar>::type Packet;
-  const int PacketSize = sizeof(Packet)/sizeof(Scalar);
-
-  enum { AllAligned = 0, EvenAligned, FirstAligned, NoneAligned };
-  const int columnsAtOnce = 4;
-  const int peels = 2;
-  const int PacketAlignedMask = PacketSize-1;
-  const int PeelAlignedMask = PacketSize*peels-1;
-
-  // How many coeffs of the result do we have to skip to be aligned.
-  // Here we assume data are at least aligned on the base scalar type that is mandatory anyway.
-  const int alignedStart = ei_alignmentOffset(res,size);
-  const int alignedSize = PacketSize>1 ? alignedStart + ((size-alignedStart) & ~PacketAlignedMask) : 0;
-  const int peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
-
-  const int alignmentStep = PacketSize>1 ? (PacketSize - lhsStride % PacketSize) & PacketAlignedMask : 0;
-  int alignmentPattern = alignmentStep==0 ? AllAligned
-                       : alignmentStep==(PacketSize/2) ? EvenAligned
-                       : FirstAligned;
-
-  // we cannot assume the first element is aligned because of sub-matrices
-  const int lhsAlignmentOffset = ei_alignmentOffset(lhs,size);
-
-  // find how many columns do we have to skip to be aligned with the result (if possible)
-  int skipColumns = 0;
-  if (PacketSize>1)
-  {
-    ei_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(Packet)==0 || size<PacketSize);
-
-    while (skipColumns<PacketSize &&
-           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%PacketSize))
-      ++skipColumns;
-    if (skipColumns==PacketSize)
-    {
-      // nothing can be aligned, no need to skip any column
-      alignmentPattern = NoneAligned;
-      skipColumns = 0;
-    }
-    else
-    {
-      skipColumns = std::min(skipColumns,rhs.size());
-      // note that the skiped columns are processed later.
-    }
-
-    ei_internal_assert((alignmentPattern==NoneAligned) || (size_t(lhs+alignedStart+lhsStride*skipColumns)%sizeof(Packet))==0);
-  }
-
-  int offset1 = (FirstAligned && alignmentStep==1?3:1);
-  int offset3 = (FirstAligned && alignmentStep==1?1:3);
-
-  int columnBound = ((rhs.size()-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
-  for (int i=skipColumns; i<columnBound; i+=columnsAtOnce)
-  {
-    Packet ptmp0 = ei_pset1(rhs[i]),   ptmp1 = ei_pset1(rhs[i+offset1]),
-           ptmp2 = ei_pset1(rhs[i+2]), ptmp3 = ei_pset1(rhs[i+offset3]);
-
-    // this helps a lot generating better binary code
-    const Scalar *lhs0 = lhs + i*lhsStride, *lhs1 = lhs + (i+offset1)*lhsStride,
-                 *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
-
-    if (PacketSize>1)
-    {
-      /* explicit vectorization */
-      // process initial unaligned coeffs
-      for (int j=0; j<alignedStart; ++j)
-        res[j] += ei_pfirst(ptmp0)*lhs0[j] + ei_pfirst(ptmp1)*lhs1[j] + ei_pfirst(ptmp2)*lhs2[j] + ei_pfirst(ptmp3)*lhs3[j];
-
-      if (alignedSize>alignedStart)
-      {
-        switch(alignmentPattern)
-        {
-          case AllAligned:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
-            break;
-          case EvenAligned:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
-            break;
-          case FirstAligned:
-            if(peels>1)
-            {
-              Packet A00, A01, A02, A03, A10, A11, A12, A13;
-
-              A01 = ei_pload(&lhs1[alignedStart-1]);
-              A02 = ei_pload(&lhs2[alignedStart-2]);
-              A03 = ei_pload(&lhs3[alignedStart-3]);
-
-              for (int j = alignedStart; j<peeledSize; j+=peels*PacketSize)
-              {
-                A11 = ei_pload(&lhs1[j-1+PacketSize]);  ei_palign<1>(A01,A11);
-                A12 = ei_pload(&lhs2[j-2+PacketSize]);  ei_palign<2>(A02,A12);
-                A13 = ei_pload(&lhs3[j-3+PacketSize]);  ei_palign<3>(A03,A13);
-
-                A00 = ei_pload (&lhs0[j]);
-                A10 = ei_pload (&lhs0[j+PacketSize]);
-                A00 = ei_pmadd(ptmp0, A00, ei_pload(&res[j]));
-                A10 = ei_pmadd(ptmp0, A10, ei_pload(&res[j+PacketSize]));
-
-                A00 = ei_pmadd(ptmp1, A01, A00);
-                A01 = ei_pload(&lhs1[j-1+2*PacketSize]);  ei_palign<1>(A11,A01);
-                A00 = ei_pmadd(ptmp2, A02, A00);
-                A02 = ei_pload(&lhs2[j-2+2*PacketSize]);  ei_palign<2>(A12,A02);
-                A00 = ei_pmadd(ptmp3, A03, A00);
-                ei_pstore(&res[j],A00);
-                A03 = ei_pload(&lhs3[j-3+2*PacketSize]);  ei_palign<3>(A13,A03);
-                A10 = ei_pmadd(ptmp1, A11, A10);
-                A10 = ei_pmadd(ptmp2, A12, A10);
-                A10 = ei_pmadd(ptmp3, A13, A10);
-                ei_pstore(&res[j+PacketSize],A10);
-              }
-            }
-            for (int j = peeledSize; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
-            break;
-          default:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
-            break;
-        }
-      }
-    } // end explicit vectorization
-
-    /* process remaining coeffs (or all if there is no explicit vectorization) */
-    for (int j=alignedSize; j<size; ++j)
-      res[j] += ei_pfirst(ptmp0)*lhs0[j] + ei_pfirst(ptmp1)*lhs1[j] + ei_pfirst(ptmp2)*lhs2[j] + ei_pfirst(ptmp3)*lhs3[j];
-  }
-
-  // process remaining first and last columns (at most columnsAtOnce-1)
-  int end = rhs.size();
-  int start = columnBound;
-  do
-  {
-    for (int i=start; i<end; ++i)
-    {
-      Packet ptmp0 = ei_pset1(rhs[i]);
-      const Scalar* lhs0 = lhs + i*lhsStride;
-
-      if (PacketSize>1)
-      {
-        /* explicit vectorization */
-        // process first unaligned result's coeffs
-        for (int j=0; j<alignedStart; ++j)
-          res[j] += ei_pfirst(ptmp0) * lhs0[j];
-
-        // process aligned result's coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(Packet))==0)
-          for (int j = alignedStart;j<alignedSize;j+=PacketSize)
-            ei_pstore(&res[j], ei_pmadd(ptmp0,ei_pload(&lhs0[j]),ei_pload(&res[j])));
-        else
-          for (int j = alignedStart;j<alignedSize;j+=PacketSize)
-            ei_pstore(&res[j], ei_pmadd(ptmp0,ei_ploadu(&lhs0[j]),ei_pload(&res[j])));
-      }
-
-      // process remaining scalars (or all if no explicit vectorization)
-      for (int j=alignedSize; j<size; ++j)
-        res[j] += ei_pfirst(ptmp0) * lhs0[j];
-    }
-    if (skipColumns)
-    {
-      start = 0;
-      end = skipColumns;
-      skipColumns = 0;
-    }
-    else
-      break;
-  } while(PacketSize>1);
-  #undef _EIGEN_ACCUMULATE_PACKETS
-}
-
-// TODO add peeling to mask unaligned load/stores
-template<typename Scalar, typename ResType>
-static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
-  const Scalar* lhs, int lhsStride,
-  const Scalar* rhs, int rhsSize,
-  ResType& res)
-{
-  #ifdef _EIGEN_ACCUMULATE_PACKETS
-  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
-  #endif
-
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
-    Packet b = ei_pload(&rhs[j]); \
-    ptmp0 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A0) (&lhs0[j]), ptmp0); \
-    ptmp1 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A13)(&lhs1[j]), ptmp1); \
-    ptmp2 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A2) (&lhs2[j]), ptmp2); \
-    ptmp3 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A13)(&lhs3[j]), ptmp3); }
-
-  typedef typename ei_packet_traits<Scalar>::type Packet;
-  const int PacketSize = sizeof(Packet)/sizeof(Scalar);
-
-  enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
-  const int rowsAtOnce = 4;
-  const int peels = 2;
-  const int PacketAlignedMask = PacketSize-1;
-  const int PeelAlignedMask = PacketSize*peels-1;
-  const int size = rhsSize;
-
-  // How many coeffs of the result do we have to skip to be aligned.
-  // Here we assume data are at least aligned on the base scalar type that is mandatory anyway.
-  const int alignedStart = ei_alignmentOffset(rhs, size);
-  const int alignedSize = PacketSize>1 ? alignedStart + ((size-alignedStart) & ~PacketAlignedMask) : 0;
-  const int peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
-
-  const int alignmentStep = PacketSize>1 ? (PacketSize - lhsStride % PacketSize) & PacketAlignedMask : 0;
-  int alignmentPattern = alignmentStep==0 ? AllAligned
-                       : alignmentStep==(PacketSize/2) ? EvenAligned
-                       : FirstAligned;
-
-  // we cannot assume the first element is aligned because of sub-matrices
-  const int lhsAlignmentOffset = ei_alignmentOffset(lhs,size);
-
-  // find how many rows do we have to skip to be aligned with rhs (if possible)
-  int skipRows = 0;
-  if (PacketSize>1)
-  {
-    ei_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(Packet)==0  || size<PacketSize);
-
-    while (skipRows<PacketSize &&
-           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%PacketSize))
-      ++skipRows;
-    if (skipRows==PacketSize)
-    {
-      // nothing can be aligned, no need to skip any column
-      alignmentPattern = NoneAligned;
-      skipRows = 0;
-    }
-    else
-    {
-      skipRows = std::min(skipRows,res.size());
-      // note that the skiped columns are processed later.
-    }
-    ei_internal_assert((alignmentPattern==NoneAligned) || PacketSize==1
-      || (size_t(lhs+alignedStart+lhsStride*skipRows)%sizeof(Packet))==0);
-  }
-
-  int offset1 = (FirstAligned && alignmentStep==1?3:1);
-  int offset3 = (FirstAligned && alignmentStep==1?1:3);
-
-  int rowBound = ((res.size()-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
-  for (int i=skipRows; i<rowBound; i+=rowsAtOnce)
-  {
-    Scalar tmp0 = Scalar(0), tmp1 = Scalar(0), tmp2 = Scalar(0), tmp3 = Scalar(0);
-
-    // this helps the compiler generating good binary code
-    const Scalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
-                 *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
-
-    if (PacketSize>1)
-    {
-      /* explicit vectorization */
-      Packet ptmp0 = ei_pset1(Scalar(0)), ptmp1 = ei_pset1(Scalar(0)), ptmp2 = ei_pset1(Scalar(0)), ptmp3 = ei_pset1(Scalar(0));
-
-      // process initial unaligned coeffs
-      // FIXME this loop get vectorized by the compiler !
-      for (int j=0; j<alignedStart; ++j)
-      {
-        Scalar b = rhs[j];
-        tmp0 += b*lhs0[j]; tmp1 += b*lhs1[j]; tmp2 += b*lhs2[j]; tmp3 += b*lhs3[j];
-      }
-
-      if (alignedSize>alignedStart)
-      {
-        switch(alignmentPattern)
-        {
-          case AllAligned:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
-            break;
-          case EvenAligned:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
-            break;
-          case FirstAligned:
-            if (peels>1)
-            {
-              /* Here we proccess 4 rows with with two peeled iterations to hide
-               * tghe overhead of unaligned loads. Moreover unaligned loads are handled
-               * using special shift/move operations between the two aligned packets
-               * overlaping the desired unaligned packet. This is *much* more efficient
-               * than basic unaligned loads.
-               */
-              Packet A01, A02, A03, b, A11, A12, A13;
-              A01 = ei_pload(&lhs1[alignedStart-1]);
-              A02 = ei_pload(&lhs2[alignedStart-2]);
-              A03 = ei_pload(&lhs3[alignedStart-3]);
-
-              for (int j = alignedStart; j<peeledSize; j+=peels*PacketSize)
-              {
-                b = ei_pload(&rhs[j]);
-                A11 = ei_pload(&lhs1[j-1+PacketSize]);  ei_palign<1>(A01,A11);
-                A12 = ei_pload(&lhs2[j-2+PacketSize]);  ei_palign<2>(A02,A12);
-                A13 = ei_pload(&lhs3[j-3+PacketSize]);  ei_palign<3>(A03,A13);
-
-                ptmp0 = ei_pmadd(b, ei_pload (&lhs0[j]), ptmp0);
-                ptmp1 = ei_pmadd(b, A01, ptmp1);
-                A01 = ei_pload(&lhs1[j-1+2*PacketSize]);  ei_palign<1>(A11,A01);
-                ptmp2 = ei_pmadd(b, A02, ptmp2);
-                A02 = ei_pload(&lhs2[j-2+2*PacketSize]);  ei_palign<2>(A12,A02);
-                ptmp3 = ei_pmadd(b, A03, ptmp3);
-                A03 = ei_pload(&lhs3[j-3+2*PacketSize]);  ei_palign<3>(A13,A03);
-
-                b = ei_pload(&rhs[j+PacketSize]);
-                ptmp0 = ei_pmadd(b, ei_pload (&lhs0[j+PacketSize]), ptmp0);
-                ptmp1 = ei_pmadd(b, A11, ptmp1);
-                ptmp2 = ei_pmadd(b, A12, ptmp2);
-                ptmp3 = ei_pmadd(b, A13, ptmp3);
-              }
-            }
-            for (int j = peeledSize; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
-            break;
-          default:
-            for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
-            break;
-        }
-        tmp0 += ei_predux(ptmp0);
-        tmp1 += ei_predux(ptmp1);
-        tmp2 += ei_predux(ptmp2);
-        tmp3 += ei_predux(ptmp3);
-      }
-    } // end explicit vectorization
-
-    // process remaining coeffs (or all if no explicit vectorization)
-    // FIXME this loop get vectorized by the compiler !
-    for (int j=alignedSize; j<size; ++j)
-    {
-      Scalar b = rhs[j];
-      tmp0 += b*lhs0[j]; tmp1 += b*lhs1[j]; tmp2 += b*lhs2[j]; tmp3 += b*lhs3[j];
-    }
-    res[i] += tmp0; res[i+offset1] += tmp1; res[i+2] += tmp2; res[i+offset3] += tmp3;
-  }
-
-  // process remaining first and last rows (at most columnsAtOnce-1)
-  int end = res.size();
-  int start = rowBound;
-  do
-  {
-    for (int i=start; i<end; ++i)
-    {
-      Scalar tmp0 = Scalar(0);
-      Packet ptmp0 = ei_pset1(tmp0);
-      const Scalar* lhs0 = lhs + i*lhsStride;
-      // process first unaligned result's coeffs
-      // FIXME this loop get vectorized by the compiler !
-      for (int j=0; j<alignedStart; ++j)
-        tmp0 += rhs[j] * lhs0[j];
-
-      if (alignedSize>alignedStart)
-      {
-        // process aligned rhs coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(Packet))==0)
-          for (int j = alignedStart;j<alignedSize;j+=PacketSize)
-            ptmp0 = ei_pmadd(ei_pload(&rhs[j]), ei_pload(&lhs0[j]), ptmp0);
-        else
-          for (int j = alignedStart;j<alignedSize;j+=PacketSize)
-            ptmp0 = ei_pmadd(ei_pload(&rhs[j]), ei_ploadu(&lhs0[j]), ptmp0);
-        tmp0 += ei_predux(ptmp0);
-      }
-
-      // process remaining scalars
-      // FIXME this loop get vectorized by the compiler !
-      for (int j=alignedSize; j<size; ++j)
-        tmp0 += rhs[j] * lhs0[j];
-      res[i] += tmp0;
-    }
-    if (skipRows)
-    {
-      start = 0;
-      end = skipRows;
-      skipRows = 0;
-    }
-    else
-      break;
-  } while(PacketSize>1);
-
-  #undef _EIGEN_ACCUMULATE_PACKETS
-}
-
-#endif // EIGEN_CACHE_FRIENDLY_PRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Core/Coeffs.h b/extern/Eigen2/Eigen/src/Core/Coeffs.h
deleted file mode 100644
index 23a84228b24..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Coeffs.h
+++ /dev/null
@@ -1,384 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_COEFFS_H
-#define EIGEN_COEFFS_H
-
-/** Short version: don't use this function, use
-  * \link operator()(int,int) const \endlink instead.
-  *
-  * Long version: this function is similar to
-  * \link operator()(int,int) const \endlink, but without the assertion.
-  * Use this for limiting the performance cost of debugging code when doing
-  * repeated coefficient access. Only use this when it is guaranteed that the
-  * parameters \a row and \a col are in range.
-  *
-  * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-  * function equivalent to \link operator()(int,int) const \endlink.
-  *
-  * \sa operator()(int,int) const, coeffRef(int,int), coeff(int) const
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::coeff(int row, int col) const
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  return derived().coeff(row, col);
-}
-
-/** \returns the coefficient at given the given row and column.
-  *
-  * \sa operator()(int,int), operator[](int) const
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::operator()(int row, int col) const
-{
-  ei_assert(row >= 0 && row < rows()
-      && col >= 0 && col < cols());
-  return derived().coeff(row, col);
-}
-
-/** Short version: don't use this function, use
-  * \link operator()(int,int) \endlink instead.
-  *
-  * Long version: this function is similar to
-  * \link operator()(int,int) \endlink, but without the assertion.
-  * Use this for limiting the performance cost of debugging code when doing
-  * repeated coefficient access. Only use this when it is guaranteed that the
-  * parameters \a row and \a col are in range.
-  *
-  * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-  * function equivalent to \link operator()(int,int) \endlink.
-  *
-  * \sa operator()(int,int), coeff(int, int) const, coeffRef(int)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::coeffRef(int row, int col)
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  return derived().coeffRef(row, col);
-}
-
-/** \returns a reference to the coefficient at given the given row and column.
-  *
-  * \sa operator()(int,int) const, operator[](int)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::operator()(int row, int col)
-{
-  ei_assert(row >= 0 && row < rows()
-      && col >= 0 && col < cols());
-  return derived().coeffRef(row, col);
-}
-
-/** Short version: don't use this function, use
-  * \link operator[](int) const \endlink instead.
-  *
-  * Long version: this function is similar to
-  * \link operator[](int) const \endlink, but without the assertion.
-  * Use this for limiting the performance cost of debugging code when doing
-  * repeated coefficient access. Only use this when it is guaranteed that the
-  * parameter \a index is in range.
-  *
-  * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-  * function equivalent to \link operator[](int) const \endlink.
-  *
-  * \sa operator[](int) const, coeffRef(int), coeff(int,int) const
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::coeff(int index) const
-{
-  ei_internal_assert(index >= 0 && index < size());
-  return derived().coeff(index);
-}
-
-/** \returns the coefficient at given index.
-  *
-  * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-  *
-  * \sa operator[](int), operator()(int,int) const, x() const, y() const,
-  * z() const, w() const
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::operator[](int index) const
-{
-  ei_assert(index >= 0 && index < size());
-  return derived().coeff(index);
-}
-
-/** \returns the coefficient at given index.
-  *
-  * This is synonymous to operator[](int) const.
-  *
-  * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-  *
-  * \sa operator[](int), operator()(int,int) const, x() const, y() const,
-  * z() const, w() const
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::operator()(int index) const
-{
-  ei_assert(index >= 0 && index < size());
-  return derived().coeff(index);
-}
-
-/** Short version: don't use this function, use
-  * \link operator[](int) \endlink instead.
-  *
-  * Long version: this function is similar to
-  * \link operator[](int) \endlink, but without the assertion.
-  * Use this for limiting the performance cost of debugging code when doing
-  * repeated coefficient access. Only use this when it is guaranteed that the
-  * parameters \a row and \a col are in range.
-  *
-  * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-  * function equivalent to \link operator[](int) \endlink.
-  *
-  * \sa operator[](int), coeff(int) const, coeffRef(int,int)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::coeffRef(int index)
-{
-  ei_internal_assert(index >= 0 && index < size());
-  return derived().coeffRef(index);
-}
-
-/** \returns a reference to the coefficient at given index.
-  *
-  * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-  *
-  * \sa operator[](int) const, operator()(int,int), x(), y(), z(), w()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::operator[](int index)
-{
-  ei_assert(index >= 0 && index < size());
-  return derived().coeffRef(index);
-}
-
-/** \returns a reference to the coefficient at given index.
-  *
-  * This is synonymous to operator[](int).
-  *
-  * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-  *
-  * \sa operator[](int) const, operator()(int,int), x(), y(), z(), w()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::operator()(int index)
-{
-  ei_assert(index >= 0 && index < size());
-  return derived().coeffRef(index);
-}
-
-/** equivalent to operator[](0).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::x() const { return (*this)[0]; }
-
-/** equivalent to operator[](1).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::y() const { return (*this)[1]; }
-
-/** equivalent to operator[](2).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::z() const { return (*this)[2]; }
-
-/** equivalent to operator[](3).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename ei_traits<Derived>::Scalar MatrixBase<Derived>
-  ::w() const { return (*this)[3]; }
-
-/** equivalent to operator[](0).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::x() { return (*this)[0]; }
-
-/** equivalent to operator[](1).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::y() { return (*this)[1]; }
-
-/** equivalent to operator[](2).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::z() { return (*this)[2]; }
-
-/** equivalent to operator[](3).  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar& MatrixBase<Derived>
-  ::w() { return (*this)[3]; }
-
-/** \returns the packet of coefficients starting at the given row and column. It is your responsibility
-  * to ensure that a packet really starts there. This method is only available on expressions having the
-  * PacketAccessBit.
-  *
-  * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-  * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-  * starting at an address which is a multiple of the packet size.
-  */
-template<typename Derived>
-template<int LoadMode>
-EIGEN_STRONG_INLINE typename ei_packet_traits<typename ei_traits<Derived>::Scalar>::type
-MatrixBase<Derived>::packet(int row, int col) const
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  return derived().template packet<LoadMode>(row,col);
-}
-
-/** Stores the given packet of coefficients, at the given row and column of this expression. It is your responsibility
-  * to ensure that a packet really starts there. This method is only available on expressions having the
-  * PacketAccessBit.
-  *
-  * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-  * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-  * starting at an address which is a multiple of the packet size.
-  */
-template<typename Derived>
-template<int StoreMode>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::writePacket
-(int row, int col, const typename ei_packet_traits<typename ei_traits<Derived>::Scalar>::type& x)
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  derived().template writePacket<StoreMode>(row,col,x);
-}
-
-/** \returns the packet of coefficients starting at the given index. It is your responsibility
-  * to ensure that a packet really starts there. This method is only available on expressions having the
-  * PacketAccessBit and the LinearAccessBit.
-  *
-  * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-  * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-  * starting at an address which is a multiple of the packet size.
-  */
-template<typename Derived>
-template<int LoadMode>
-EIGEN_STRONG_INLINE typename ei_packet_traits<typename ei_traits<Derived>::Scalar>::type
-MatrixBase<Derived>::packet(int index) const
-{
-  ei_internal_assert(index >= 0 && index < size());
-  return derived().template packet<LoadMode>(index);
-}
-
-/** Stores the given packet of coefficients, at the given index in this expression. It is your responsibility
-  * to ensure that a packet really starts there. This method is only available on expressions having the
-  * PacketAccessBit and the LinearAccessBit.
-  *
-  * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-  * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-  * starting at an address which is a multiple of the packet size.
-  */
-template<typename Derived>
-template<int StoreMode>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::writePacket
-(int index, const typename ei_packet_traits<typename ei_traits<Derived>::Scalar>::type& x)
-{
-  ei_internal_assert(index >= 0 && index < size());
-  derived().template writePacket<StoreMode>(index,x);
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-/** \internal Copies the coefficient at position (row,col) of other into *this.
-  *
-  * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-  * with usual assignments.
-  *
-  * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::copyCoeff(int row, int col, const MatrixBase<OtherDerived>& other)
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  derived().coeffRef(row, col) = other.derived().coeff(row, col);
-}
-
-/** \internal Copies the coefficient at the given index of other into *this.
-  *
-  * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-  * with usual assignments.
-  *
-  * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::copyCoeff(int index, const MatrixBase<OtherDerived>& other)
-{
-  ei_internal_assert(index >= 0 && index < size());
-  derived().coeffRef(index) = other.derived().coeff(index);
-}
-
-/** \internal Copies the packet at position (row,col) of other into *this.
-  *
-  * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-  * with usual assignments.
-  *
-  * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-  */
-template<typename Derived>
-template<typename OtherDerived, int StoreMode, int LoadMode>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::copyPacket(int row, int col, const MatrixBase<OtherDerived>& other)
-{
-  ei_internal_assert(row >= 0 && row < rows()
-                     && col >= 0 && col < cols());
-  derived().template writePacket<StoreMode>(row, col,
-    other.derived().template packet<LoadMode>(row, col));
-}
-
-/** \internal Copies the packet at the given index of other into *this.
-  *
-  * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-  * with usual assignments.
-  *
-  * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-  */
-template<typename Derived>
-template<typename OtherDerived, int StoreMode, int LoadMode>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::copyPacket(int index, const MatrixBase<OtherDerived>& other)
-{
-  ei_internal_assert(index >= 0 && index < size());
-  derived().template writePacket<StoreMode>(index,
-    other.derived().template packet<LoadMode>(index));
-}
-
-#endif
-
-#endif // EIGEN_COEFFS_H
diff --git a/extern/Eigen2/Eigen/src/Core/CwiseBinaryOp.h b/extern/Eigen2/Eigen/src/Core/CwiseBinaryOp.h
deleted file mode 100644
index c4223e2204e..00000000000
--- a/extern/Eigen2/Eigen/src/Core/CwiseBinaryOp.h
+++ /dev/null
@@ -1,304 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_CWISE_BINARY_OP_H
-#define EIGEN_CWISE_BINARY_OP_H
-
-/** \class CwiseBinaryOp
-  *
-  * \brief Generic expression of a coefficient-wise operator between two matrices or vectors
-  *
-  * \param BinaryOp template functor implementing the operator
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  *
-  * This class represents an expression of a generic binary operator of two matrices or vectors.
-  * It is the return type of the operator+, operator-, and the Cwise methods, and most
-  * of the time this is the only way it is used.
-  *
-  * However, if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
-  */
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct ei_traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
-  // we still want to handle the case when the result type is different.
-  typedef typename ei_result_of<
-                     BinaryOp(
-                       typename Lhs::Scalar,
-                       typename Rhs::Scalar
-                     )
-                   >::type Scalar;
-  typedef typename Lhs::Nested LhsNested;
-  typedef typename Rhs::Nested RhsNested;
-  typedef typename ei_unref<LhsNested>::type _LhsNested;
-  typedef typename ei_unref<RhsNested>::type _RhsNested;
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-    RowsAtCompileTime = Lhs::RowsAtCompileTime,
-    ColsAtCompileTime = Lhs::ColsAtCompileTime,
-    MaxRowsAtCompileTime = Lhs::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = Lhs::MaxColsAtCompileTime,
-    Flags = (int(LhsFlags) | int(RhsFlags)) & (
-        HereditaryBits
-      | (int(LhsFlags) & int(RhsFlags) & (LinearAccessBit | AlignedBit))
-      | (ei_functor_traits<BinaryOp>::PacketAccess && ((int(LhsFlags) & RowMajorBit)==(int(RhsFlags) & RowMajorBit))
-        ? (int(LhsFlags) & int(RhsFlags) & PacketAccessBit) : 0)),
-    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + ei_functor_traits<BinaryOp>::Cost
-  };
-};
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOp : ei_no_assignment_operator,
-  public MatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
-    typedef typename ei_traits<CwiseBinaryOp>::LhsNested LhsNested;
-    typedef typename ei_traits<CwiseBinaryOp>::RhsNested RhsNested;
-
-    EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& lhs, const Rhs& rhs, const BinaryOp& func = BinaryOp())
-      : m_lhs(lhs), m_rhs(rhs), m_functor(func)
-    {
-      // we require Lhs and Rhs to have the same scalar type. Currently there is no example of a binary functor
-      // that would take two operands of different types. If there were such an example, then this check should be
-      // moved to the BinaryOp functors, on a per-case basis. This would however require a change in the BinaryOp functors, as
-      // currently they take only one typename Scalar template parameter.
-      // It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
-      // So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
-      // add together a float matrix and a double matrix.
-      EIGEN_STATIC_ASSERT((ei_functor_allows_mixing_real_and_complex<BinaryOp>::ret
-                           ? int(ei_is_same_type<typename Lhs::RealScalar, typename Rhs::RealScalar>::ret)
-                           : int(ei_is_same_type<typename Lhs::Scalar, typename Rhs::Scalar>::ret)),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      // require the sizes to match
-      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
-      ei_assert(lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols());
-    }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_lhs.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(int row, int col) const
-    {
-      return m_functor(m_lhs.coeff(row, col), m_rhs.coeff(row, col));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int row, int col) const
-    {
-      return m_functor.packetOp(m_lhs.template packet<LoadMode>(row, col), m_rhs.template packet<LoadMode>(row, col));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(int index) const
-    {
-      return m_functor(m_lhs.coeff(index), m_rhs.coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int index) const
-    {
-      return m_functor.packetOp(m_lhs.template packet<LoadMode>(index), m_rhs.template packet<LoadMode>(index));
-    }
-
-  protected:
-    const LhsNested m_lhs;
-    const RhsNested m_rhs;
-    const BinaryOp m_functor;
-};
-
-/**\returns an expression of the difference of \c *this and \a other
-  *
-  * \note If you want to substract a given scalar from all coefficients, see Cwise::operator-().
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator-=(), Cwise::operator-()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<ei_scalar_difference_op<typename ei_traits<Derived>::Scalar>,
-                                 Derived, OtherDerived>
-MatrixBase<Derived>::operator-(const MatrixBase<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
-                       Derived, OtherDerived>(derived(), other.derived());
-}
-
-/** replaces \c *this by \c *this - \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
-{
-  return *this = *this - other;
-}
-
-/** \relates MatrixBase
-  *
-  * \returns an expression of the sum of \c *this and \a other
-  *
-  * \note If you want to add a given scalar to all coefficients, see Cwise::operator+().
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator+=(), Cwise::operator+()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<ei_scalar_sum_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-MatrixBase<Derived>::operator+(const MatrixBase<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<ei_scalar_sum_op<Scalar>, Derived, OtherDerived>(derived(), other.derived());
-}
-
-/** replaces \c *this by \c *this + \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
-{
-  return *this = *this + other;
-}
-
-/** \returns an expression of the Schur product (coefficient wise product) of *this and \a other
-  *
-  * Example: \include Cwise_product.cpp
-  * Output: \verbinclude Cwise_product.out
-  *
-  * \sa class CwiseBinaryOp, operator/(), square()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE
-Cwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(_expression(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise quotient of *this and \a other
-  *
-  * Example: \include Cwise_quotient.cpp
-  * Output: \verbinclude Cwise_quotient.out
-  *
-  * \sa class CwiseBinaryOp, operator*(), inverse()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
-Cwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)(_expression(), other.derived());
-}
-
-/** Replaces this expression by its coefficient-wise product with \a other.
-  *
-  * Example: \include Cwise_times_equal.cpp
-  * Output: \verbinclude Cwise_times_equal.out
-  *
-  * \sa operator*(), operator/=()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator*=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this * other;
-}
-
-/** Replaces this expression by its coefficient-wise quotient by \a other.
-  *
-  * Example: \include Cwise_slash_equal.cpp
-  * Output: \verbinclude Cwise_slash_equal.out
-  *
-  * \sa operator/(), operator*=()
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator/=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this / other;
-}
-
-/** \returns an expression of the coefficient-wise min of *this and \a other
-  *
-  * Example: \include Cwise_min.cpp
-  * Output: \verbinclude Cwise_min.out
-  *
-  * \sa class CwiseBinaryOp
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)
-Cwise<ExpressionType>::min(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)(_expression(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise max of *this and \a other
-  *
-  * Example: \include Cwise_max.cpp
-  * Output: \verbinclude Cwise_max.out
-  *
-  * \sa class CwiseBinaryOp
-  */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)
-Cwise<ExpressionType>::max(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)(_expression(), other.derived());
-}
-
-/** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
-  *
-  * The template parameter \a CustomBinaryOp is the type of the functor
-  * of the custom operator (see class CwiseBinaryOp for an example)
-  *
-  * \addexample CustomCwiseBinaryFunctors \label How to use custom coeff wise binary functors
-  *
-  * Here is an example illustrating the use of custom functors:
-  * \include class_CwiseBinaryOp.cpp
-  * Output: \verbinclude class_CwiseBinaryOp.out
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator+, MatrixBase::operator-, Cwise::operator*, Cwise::operator/
-  */
-template<typename Derived>
-template<typename CustomBinaryOp, typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
-MatrixBase<Derived>::binaryExpr(const MatrixBase<OtherDerived> &other, const CustomBinaryOp& func) const
-{
-  return CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>(derived(), other.derived(), func);
-}
-
-#endif // EIGEN_CWISE_BINARY_OP_H
diff --git a/extern/Eigen2/Eigen/src/Core/CwiseUnaryOp.h b/extern/Eigen2/Eigen/src/Core/CwiseUnaryOp.h
deleted file mode 100644
index 076d568e023..00000000000
--- a/extern/Eigen2/Eigen/src/Core/CwiseUnaryOp.h
+++ /dev/null
@@ -1,229 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_CWISE_UNARY_OP_H
-#define EIGEN_CWISE_UNARY_OP_H
-
-/** \class CwiseUnaryOp
-  *
-  * \brief Generic expression of a coefficient-wise unary operator of a matrix or a vector
-  *
-  * \param UnaryOp template functor implementing the operator
-  * \param MatrixType the type of the matrix we are applying the unary operator
-  *
-  * This class represents an expression of a generic unary operator of a matrix or a vector.
-  * It is the return type of the unary operator-, of a matrix or a vector, and most
-  * of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
-  */
-template<typename UnaryOp, typename MatrixType>
-struct ei_traits<CwiseUnaryOp<UnaryOp, MatrixType> >
- : ei_traits<MatrixType>
-{
-  typedef typename ei_result_of<
-                     UnaryOp(typename MatrixType::Scalar)
-                   >::type Scalar;
-  typedef typename MatrixType::Nested MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    Flags = (_MatrixTypeNested::Flags & (
-      HereditaryBits | LinearAccessBit | AlignedBit
-      | (ei_functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0))),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost + ei_functor_traits<UnaryOp>::Cost
-  };
-};
-
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOp : ei_no_assignment_operator,
-  public MatrixBase<CwiseUnaryOp<UnaryOp, MatrixType> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
-
-    inline CwiseUnaryOp(const MatrixType& mat, const UnaryOp& func = UnaryOp())
-      : m_matrix(mat), m_functor(func) {}
-
-    EIGEN_STRONG_INLINE int rows() const { return m_matrix.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_matrix.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(int row, int col) const
-    {
-      return m_functor(m_matrix.coeff(row, col));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int row, int col) const
-    {
-      return m_functor.packetOp(m_matrix.template packet<LoadMode>(row, col));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(int index) const
-    {
-      return m_functor(m_matrix.coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int index) const
-    {
-      return m_functor.packetOp(m_matrix.template packet<LoadMode>(index));
-    }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-    const UnaryOp m_functor;
-};
-
-/** \returns an expression of a custom coefficient-wise unary operator \a func of *this
-  *
-  * The template parameter \a CustomUnaryOp is the type of the functor
-  * of the custom unary operator.
-  *
-  * \addexample CustomCwiseUnaryFunctors \label How to use custom coeff wise unary functors
-  *
-  * Example:
-  * \include class_CwiseUnaryOp.cpp
-  * Output: \verbinclude class_CwiseUnaryOp.out
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinarOp, MatrixBase::operator-, Cwise::abs
-  */
-template<typename Derived>
-template<typename CustomUnaryOp>
-EIGEN_STRONG_INLINE const CwiseUnaryOp<CustomUnaryOp, Derived>
-MatrixBase<Derived>::unaryExpr(const CustomUnaryOp& func) const
-{
-  return CwiseUnaryOp<CustomUnaryOp, Derived>(derived(), func);
-}
-
-/** \returns an expression of the opposite of \c *this
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const CwiseUnaryOp<ei_scalar_opposite_op<typename ei_traits<Derived>::Scalar>,Derived>
-MatrixBase<Derived>::operator-() const
-{
-  return derived();
-}
-
-/** \returns an expression of the coefficient-wise absolute value of \c *this
-  *
-  * Example: \include Cwise_abs.cpp
-  * Output: \verbinclude Cwise_abs.out
-  *
-  * \sa abs2()
-  */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs_op)
-Cwise<ExpressionType>::abs() const
-{
-  return _expression();
-}
-
-/** \returns an expression of the coefficient-wise squared absolute value of \c *this
-  *
-  * Example: \include Cwise_abs2.cpp
-  * Output: \verbinclude Cwise_abs2.out
-  *
-  * \sa abs(), square()
-  */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs2_op)
-Cwise<ExpressionType>::abs2() const
-{
-  return _expression();
-}
-
-/** \returns an expression of the complex conjugate of \c *this.
-  *
-  * \sa adjoint() */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename MatrixBase<Derived>::ConjugateReturnType
-MatrixBase<Derived>::conjugate() const
-{
-  return ConjugateReturnType(derived());
-}
-
-/** \returns an expression of the real part of \c *this.
-  *
-  * \sa imag() */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::RealReturnType
-MatrixBase<Derived>::real() const { return derived(); }
-
-/** \returns an expression of the imaginary part of \c *this.
-  *
-  * \sa real() */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ImagReturnType
-MatrixBase<Derived>::imag() const { return derived(); }
-
-/** \returns an expression of *this with the \a Scalar type casted to
-  * \a NewScalar.
-  *
-  * The template parameter \a NewScalar is the type we are casting the scalars to.
-  *
-  * \sa class CwiseUnaryOp
-  */
-template<typename Derived>
-template<typename NewType>
-EIGEN_STRONG_INLINE const CwiseUnaryOp<ei_scalar_cast_op<typename ei_traits<Derived>::Scalar, NewType>, Derived>
-MatrixBase<Derived>::cast() const
-{
-  return derived();
-}
-
-/** \relates MatrixBase */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ScalarMultipleReturnType
-MatrixBase<Derived>::operator*(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, Derived>
-    (derived(), ei_scalar_multiple_op<Scalar>(scalar));
-}
-
-/** \relates MatrixBase */
-template<typename Derived>
-EIGEN_STRONG_INLINE const CwiseUnaryOp<ei_scalar_quotient1_op<typename ei_traits<Derived>::Scalar>, Derived>
-MatrixBase<Derived>::operator/(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<ei_scalar_quotient1_op<Scalar>, Derived>
-    (derived(), ei_scalar_quotient1_op<Scalar>(scalar));
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-MatrixBase<Derived>::operator*=(const Scalar& other)
-{
-  return *this = *this * other;
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-MatrixBase<Derived>::operator/=(const Scalar& other)
-{
-  return *this = *this / other;
-}
-
-#endif // EIGEN_CWISE_UNARY_OP_H
diff --git a/extern/Eigen2/Eigen/src/Core/DiagonalCoeffs.h b/extern/Eigen2/Eigen/src/Core/DiagonalCoeffs.h
deleted file mode 100644
index 767fe5fb7c0..00000000000
--- a/extern/Eigen2/Eigen/src/Core/DiagonalCoeffs.h
+++ /dev/null
@@ -1,124 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_DIAGONALCOEFFS_H
-#define EIGEN_DIAGONALCOEFFS_H
-
-/** \class DiagonalCoeffs
-  *
-  * \brief Expression of the main diagonal of a matrix
-  *
-  * \param MatrixType the type of the object in which we are taking the main diagonal
-  *
-  * The matrix is not required to be square.
-  *
-  * This class represents an expression of the main diagonal of a square matrix.
-  * It is the return type of MatrixBase::diagonal() and most of the time this is
-  * the only way it is used.
-  *
-  * \sa MatrixBase::diagonal()
-  */
-template<typename MatrixType>
-struct ei_traits<DiagonalCoeffs<MatrixType> >
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsAtCompileTime = int(MatrixType::SizeAtCompileTime) == Dynamic ? Dynamic
-                      : EIGEN_ENUM_MIN(MatrixType::RowsAtCompileTime,
-                                       MatrixType::ColsAtCompileTime),
-    ColsAtCompileTime = 1,
-    MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
-                            : EIGEN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime,
-                                             MatrixType::MaxColsAtCompileTime),
-    MaxColsAtCompileTime = 1,
-    Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
-  };
-};
-
-template<typename MatrixType> class DiagonalCoeffs
-   : public MatrixBase<DiagonalCoeffs<MatrixType> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(DiagonalCoeffs)
-
-    inline DiagonalCoeffs(const MatrixType& matrix) : m_matrix(matrix) {}
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(DiagonalCoeffs)
-
-    inline int rows() const { return std::min(m_matrix.rows(), m_matrix.cols()); }
-    inline int cols() const { return 1; }
-
-    inline Scalar& coeffRef(int row, int)
-    {
-      return m_matrix.const_cast_derived().coeffRef(row, row);
-    }
-
-    inline const Scalar coeff(int row, int) const
-    {
-      return m_matrix.coeff(row, row);
-    }
-
-    inline Scalar& coeffRef(int index)
-    {
-      return m_matrix.const_cast_derived().coeffRef(index, index);
-    }
-
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix.coeff(index, index);
-    }
-
-  protected:
-
-    const typename MatrixType::Nested m_matrix;
-};
-
-/** \returns an expression of the main diagonal of the matrix \c *this
-  *
-  * \c *this is not required to be square.
-  *
-  * Example: \include MatrixBase_diagonal.cpp
-  * Output: \verbinclude MatrixBase_diagonal.out
-  *
-  * \sa class DiagonalCoeffs */
-template<typename Derived>
-inline DiagonalCoeffs<Derived>
-MatrixBase<Derived>::diagonal()
-{
-  return DiagonalCoeffs<Derived>(derived());
-}
-
-/** This is the const version of diagonal(). */
-template<typename Derived>
-inline const DiagonalCoeffs<Derived>
-MatrixBase<Derived>::diagonal() const
-{
-  return DiagonalCoeffs<Derived>(derived());
-}
-
-#endif // EIGEN_DIAGONALCOEFFS_H
diff --git a/extern/Eigen2/Eigen/src/Core/DiagonalMatrix.h b/extern/Eigen2/Eigen/src/Core/DiagonalMatrix.h
deleted file mode 100644
index 01f01fdf259..00000000000
--- a/extern/Eigen2/Eigen/src/Core/DiagonalMatrix.h
+++ /dev/null
@@ -1,144 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_DIAGONALMATRIX_H
-#define EIGEN_DIAGONALMATRIX_H
-
-/** \class DiagonalMatrix
-  * \nonstableyet 
-  *
-  * \brief Expression of a diagonal matrix
-  *
-  * \param CoeffsVectorType the type of the vector of diagonal coefficients
-  *
-  * This class is an expression of a diagonal matrix with given vector of diagonal
-  * coefficients. It is the return
-  * type of MatrixBase::diagonal(const OtherDerived&) and most of the time this is
-  * the only way it is used.
-  *
-  * \sa MatrixBase::diagonal(const OtherDerived&)
-  */
-template<typename CoeffsVectorType>
-struct ei_traits<DiagonalMatrix<CoeffsVectorType> >
-{
-  typedef typename CoeffsVectorType::Scalar Scalar;
-  typedef typename ei_nested<CoeffsVectorType>::type CoeffsVectorTypeNested;
-  typedef typename ei_unref<CoeffsVectorTypeNested>::type _CoeffsVectorTypeNested;
-  enum {
-    RowsAtCompileTime = CoeffsVectorType::SizeAtCompileTime,
-    ColsAtCompileTime = CoeffsVectorType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = CoeffsVectorType::MaxSizeAtCompileTime,
-    MaxColsAtCompileTime = CoeffsVectorType::MaxSizeAtCompileTime,
-    Flags = (_CoeffsVectorTypeNested::Flags & HereditaryBits) | Diagonal,
-    CoeffReadCost = _CoeffsVectorTypeNested::CoeffReadCost
-  };
-};
-
-template<typename CoeffsVectorType>
-class DiagonalMatrix : ei_no_assignment_operator,
-   public MatrixBase<DiagonalMatrix<CoeffsVectorType> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(DiagonalMatrix)
-    typedef CoeffsVectorType _CoeffsVectorType;
-
-    // needed to evaluate a DiagonalMatrix<Xpr> to a DiagonalMatrix<NestByValue<Vector> >
-    template<typename OtherCoeffsVectorType>
-    inline DiagonalMatrix(const DiagonalMatrix<OtherCoeffsVectorType>& other) : m_coeffs(other.diagonal())
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(CoeffsVectorType);
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherCoeffsVectorType);
-      ei_assert(m_coeffs.size() > 0);
-    }
-
-    inline DiagonalMatrix(const CoeffsVectorType& coeffs) : m_coeffs(coeffs)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(CoeffsVectorType);
-      ei_assert(coeffs.size() > 0);
-    }
-
-    inline int rows() const { return m_coeffs.size(); }
-    inline int cols() const { return m_coeffs.size(); }
-
-    inline const Scalar coeff(int row, int col) const
-    {
-      return row == col ? m_coeffs.coeff(row) : static_cast<Scalar>(0);
-    }
-
-    inline const CoeffsVectorType& diagonal() const { return m_coeffs; }
-
-  protected:
-    const typename CoeffsVectorType::Nested m_coeffs;
-};
-
-/** \nonstableyet 
-  * \returns an expression of a diagonal matrix with *this as vector of diagonal coefficients
-  *
-  * \only_for_vectors
-  *
-  * \addexample AsDiagonalExample \label How to build a diagonal matrix from a vector
-  *
-  * Example: \include MatrixBase_asDiagonal.cpp
-  * Output: \verbinclude MatrixBase_asDiagonal.out
-  *
-  * \sa class DiagonalMatrix, isDiagonal()
-  **/
-template<typename Derived>
-inline const DiagonalMatrix<Derived>
-MatrixBase<Derived>::asDiagonal() const
-{
-  return derived();
-}
-
-/** \nonstableyet 
-  * \returns true if *this is approximately equal to a diagonal matrix,
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isDiagonal.cpp
-  * Output: \verbinclude MatrixBase_isDiagonal.out
-  *
-  * \sa asDiagonal()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isDiagonal
-(RealScalar prec) const
-{
-  if(cols() != rows()) return false;
-  RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
-  for(int j = 0; j < cols(); ++j)
-  {
-    RealScalar absOnDiagonal = ei_abs(coeff(j,j));
-    if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
-  }
-  for(int j = 0; j < cols(); ++j)
-    for(int i = 0; i < j; ++i)
-    {
-      if(!ei_isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false;
-      if(!ei_isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false;
-    }
-  return true;
-}
-
-#endif // EIGEN_DIAGONALMATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Core/DiagonalProduct.h b/extern/Eigen2/Eigen/src/Core/DiagonalProduct.h
deleted file mode 100644
index f33a26f98b0..00000000000
--- a/extern/Eigen2/Eigen/src/Core/DiagonalProduct.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_DIAGONALPRODUCT_H
-#define EIGEN_DIAGONALPRODUCT_H
-
-/** \internal Specialization of ei_nested for DiagonalMatrix.
- *  Unlike ei_nested, if the argument is a DiagonalMatrix and if it must be evaluated,
- *  then it evaluated to a DiagonalMatrix having its own argument evaluated.
- */
-template<typename T, int N> struct ei_nested_diagonal : ei_nested<T,N> {};
-template<typename T, int N> struct ei_nested_diagonal<DiagonalMatrix<T>,N >
- : ei_nested<DiagonalMatrix<T>, N, DiagonalMatrix<NestByValue<typename ei_plain_matrix_type<T>::type> > >
-{};
-
-// specialization of ProductReturnType
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,DiagonalProduct>
-{
-  typedef typename ei_nested_diagonal<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-  typedef typename ei_nested_diagonal<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef Product<LhsNested, RhsNested, DiagonalProduct> Type;
-};
-
-template<typename LhsNested, typename RhsNested>
-struct ei_traits<Product<LhsNested, RhsNested, DiagonalProduct> >
-{
-  // clean the nested types:
-  typedef typename ei_cleantype<LhsNested>::type _LhsNested;
-  typedef typename ei_cleantype<RhsNested>::type _RhsNested;
-  typedef typename _LhsNested::Scalar Scalar;
-
-  enum {
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-    RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-    ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-    LhsIsDiagonal = (_LhsNested::Flags&Diagonal)==Diagonal,
-    RhsIsDiagonal = (_RhsNested::Flags&Diagonal)==Diagonal,
-
-    CanVectorizeRhs =  (!RhsIsDiagonal) && (RhsFlags & RowMajorBit) && (RhsFlags & PacketAccessBit)
-                     && (ColsAtCompileTime % ei_packet_traits<Scalar>::size == 0),
-
-    CanVectorizeLhs =  (!LhsIsDiagonal) && (!(LhsFlags & RowMajorBit)) && (LhsFlags & PacketAccessBit)
-                     && (RowsAtCompileTime % ei_packet_traits<Scalar>::size == 0),
-
-    RemovedBits = ~((RhsFlags & RowMajorBit) && (!CanVectorizeLhs) ? 0 : RowMajorBit),
-
-    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | (((CanVectorizeLhs&&RhsIsDiagonal) || (CanVectorizeRhs&&LhsIsDiagonal)) ? PacketAccessBit : 0),
-
-    CoeffReadCost = NumTraits<Scalar>::MulCost + _LhsNested::CoeffReadCost + _RhsNested::CoeffReadCost
-  };
-};
-
-template<typename LhsNested, typename RhsNested> class Product<LhsNested, RhsNested, DiagonalProduct> : ei_no_assignment_operator,
-  public MatrixBase<Product<LhsNested, RhsNested, DiagonalProduct> >
-{
-    typedef typename ei_traits<Product>::_LhsNested _LhsNested;
-    typedef typename ei_traits<Product>::_RhsNested _RhsNested;
-
-    enum {
-      RhsIsDiagonal = (_RhsNested::Flags&Diagonal)==Diagonal
-    };
-
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
-
-    template<typename Lhs, typename Rhs>
-    inline Product(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      ei_assert(lhs.cols() == rhs.rows());
-    }
-
-    inline int rows() const { return m_lhs.rows(); }
-    inline int cols() const { return m_rhs.cols(); }
-
-    const Scalar coeff(int row, int col) const
-    {
-      const int unique = RhsIsDiagonal ? col : row;
-      return m_lhs.coeff(row, unique) * m_rhs.coeff(unique, col);
-    }
-
-    template<int LoadMode>
-    const PacketScalar packet(int row, int col) const
-    {
-      if (RhsIsDiagonal)
-      {
-        return ei_pmul(m_lhs.template packet<LoadMode>(row, col), ei_pset1(m_rhs.coeff(col, col)));
-      }
-      else
-      {
-        return ei_pmul(ei_pset1(m_lhs.coeff(row, row)), m_rhs.template packet<LoadMode>(row, col));
-      }
-    }
-
-  protected:
-    const LhsNested m_lhs;
-    const RhsNested m_rhs;
-};
-
-#endif // EIGEN_DIAGONALPRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Core/Dot.h b/extern/Eigen2/Eigen/src/Core/Dot.h
deleted file mode 100644
index 5838af70d4a..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Dot.h
+++ /dev/null
@@ -1,361 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_DOT_H
-#define EIGEN_DOT_H
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for vectorization and unrolling
-***************************************************************************/
-
-template<typename Derived1, typename Derived2>
-struct ei_dot_traits
-{
-public:
-  enum {
-    Vectorization = (int(Derived1::Flags)&int(Derived2::Flags)&ActualPacketAccessBit)
-                 && (int(Derived1::Flags)&int(Derived2::Flags)&LinearAccessBit)
-                  ? LinearVectorization
-                  : NoVectorization
-  };
-
-private:
-  typedef typename Derived1::Scalar Scalar;
-  enum {
-    PacketSize = ei_packet_traits<Scalar>::size,
-    Cost = Derived1::SizeAtCompileTime * (Derived1::CoeffReadCost + Derived2::CoeffReadCost + NumTraits<Scalar>::MulCost)
-           + (Derived1::SizeAtCompileTime-1) * NumTraits<Scalar>::AddCost,
-    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Vectorization) == int(NoVectorization) ? 1 : int(PacketSize))
-  };
-
-public:
-  enum {
-    Unrolling = Cost <= UnrollingLimit
-              ? CompleteUnrolling
-              : NoUnrolling
-  };
-};
-
-/***************************************************************************
-* Part 2 : unrollers
-***************************************************************************/
-
-/*** no vectorization ***/
-
-template<typename Derived1, typename Derived2, int Start, int Length>
-struct ei_dot_novec_unroller
-{
-  enum {
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived1::Scalar Scalar;
-
-  inline static Scalar run(const Derived1& v1, const Derived2& v2)
-  {
-    return ei_dot_novec_unroller<Derived1, Derived2, Start, HalfLength>::run(v1, v2)
-         + ei_dot_novec_unroller<Derived1, Derived2, Start+HalfLength, Length-HalfLength>::run(v1, v2);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Start>
-struct ei_dot_novec_unroller<Derived1, Derived2, Start, 1>
-{
-  typedef typename Derived1::Scalar Scalar;
-
-  inline static Scalar run(const Derived1& v1, const Derived2& v2)
-  {
-    return v1.coeff(Start) * ei_conj(v2.coeff(Start));
-  }
-};
-
-/*** vectorization ***/
-
-template<typename Derived1, typename Derived2, int Index, int Stop,
-         bool LastPacket = (Stop-Index == ei_packet_traits<typename Derived1::Scalar>::size)>
-struct ei_dot_vec_unroller
-{
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  enum {
-    row1 = Derived1::RowsAtCompileTime == 1 ? 0 : Index,
-    col1 = Derived1::RowsAtCompileTime == 1 ? Index : 0,
-    row2 = Derived2::RowsAtCompileTime == 1 ? 0 : Index,
-    col2 = Derived2::RowsAtCompileTime == 1 ? Index : 0
-  };
-
-  inline static PacketScalar run(const Derived1& v1, const Derived2& v2)
-  {
-    return ei_pmadd(
-      v1.template packet<Aligned>(row1, col1),
-      v2.template packet<Aligned>(row2, col2),
-      ei_dot_vec_unroller<Derived1, Derived2, Index+ei_packet_traits<Scalar>::size, Stop>::run(v1, v2)
-    );
-  }
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct ei_dot_vec_unroller<Derived1, Derived2, Index, Stop, true>
-{
-  enum {
-    row1 = Derived1::RowsAtCompileTime == 1 ? 0 : Index,
-    col1 = Derived1::RowsAtCompileTime == 1 ? Index : 0,
-    row2 = Derived2::RowsAtCompileTime == 1 ? 0 : Index,
-    col2 = Derived2::RowsAtCompileTime == 1 ? Index : 0,
-    alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned,
-    alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned
-  };
-
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  inline static PacketScalar run(const Derived1& v1, const Derived2& v2)
-  {
-    return ei_pmul(v1.template packet<alignment1>(row1, col1), v2.template packet<alignment2>(row2, col2));
-  }
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Derived1, typename Derived2,
-         int Vectorization = ei_dot_traits<Derived1, Derived2>::Vectorization,
-         int Unrolling = ei_dot_traits<Derived1, Derived2>::Unrolling
->
-struct ei_dot_impl;
-
-template<typename Derived1, typename Derived2>
-struct ei_dot_impl<Derived1, Derived2, NoVectorization, NoUnrolling>
-{
-  typedef typename Derived1::Scalar Scalar;
-  static Scalar run(const Derived1& v1, const Derived2& v2)
-  {
-    ei_assert(v1.size()>0 && "you are using a non initialized vector");
-    Scalar res;
-    res = v1.coeff(0) * ei_conj(v2.coeff(0));
-    for(int i = 1; i < v1.size(); ++i)
-      res += v1.coeff(i) * ei_conj(v2.coeff(i));
-    return res;
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_dot_impl<Derived1, Derived2, NoVectorization, CompleteUnrolling>
-  : public ei_dot_novec_unroller<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-{};
-
-template<typename Derived1, typename Derived2>
-struct ei_dot_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
-{
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  static Scalar run(const Derived1& v1, const Derived2& v2)
-  {
-    const int size = v1.size();
-    const int packetSize = ei_packet_traits<Scalar>::size;
-    const int alignedSize = (size/packetSize)*packetSize;
-    enum {
-      alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned,
-      alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned
-    };
-    Scalar res;
-
-    // do the vectorizable part of the sum
-    if(size >= packetSize)
-    {
-      PacketScalar packet_res = ei_pmul(
-                                  v1.template packet<alignment1>(0),
-                                  v2.template packet<alignment2>(0)
-                                );
-      for(int index = packetSize; index<alignedSize; index += packetSize)
-      {
-        packet_res = ei_pmadd(
-                       v1.template packet<alignment1>(index),
-                       v2.template packet<alignment2>(index),
-                       packet_res
-                     );
-      }
-      res = ei_predux(packet_res);
-
-      // now we must do the rest without vectorization.
-      if(alignedSize == size) return res;
-    }
-    else // too small to vectorize anything.
-         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
-    {
-      res = Scalar(0);
-    }
-
-    // do the remainder of the vector
-    for(int index = alignedSize; index < size; ++index)
-    {
-      res += v1.coeff(index) * v2.coeff(index);
-    }
-
-    return res;
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_dot_impl<Derived1, Derived2, LinearVectorization, CompleteUnrolling>
-{
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  enum {
-    PacketSize = ei_packet_traits<Scalar>::size,
-    Size = Derived1::SizeAtCompileTime,
-    VectorizationSize = (Size / PacketSize) * PacketSize
-  };
-  static Scalar run(const Derived1& v1, const Derived2& v2)
-  {
-    Scalar res = ei_predux(ei_dot_vec_unroller<Derived1, Derived2, 0, VectorizationSize>::run(v1, v2));
-    if (VectorizationSize != Size)
-      res += ei_dot_novec_unroller<Derived1, Derived2, VectorizationSize, Size-VectorizationSize>::run(v1, v2);
-    return res;
-  }
-};
-
-/***************************************************************************
-* Part 4 : implementation of MatrixBase methods
-***************************************************************************/
-
-/** \returns the dot product of *this with other.
-  *
-  * \only_for_vectors
-  *
-  * \note If the scalar type is complex numbers, then this function returns the hermitian
-  * (sesquilinear) dot product, linear in the first variable and conjugate-linear in the
-  * second variable.
-  *
-  * \sa squaredNorm(), norm()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  ei_assert(size() == other.size());
-
-  return ei_dot_impl<Derived, OtherDerived>::run(derived(), other.derived());
-}
-
-/** \returns the squared \em l2 norm of *this, i.e., for vectors, the dot product of *this with itself.
-  *
-  * \sa dot(), norm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
-{
-  return ei_real((*this).cwise().abs2().sum());
-}
-
-/** \returns the \em l2 norm of *this, i.e., for vectors, the square root of the dot product of *this with itself.
-  *
-  * \sa dot(), squaredNorm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
-{
-  return ei_sqrt(squaredNorm());
-}
-
-/** \returns an expression of the quotient of *this by its own norm.
-  *
-  * \only_for_vectors
-  *
-  * \sa norm(), normalize()
-  */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::PlainMatrixType
-MatrixBase<Derived>::normalized() const
-{
-  typedef typename ei_nested<Derived>::type Nested;
-  typedef typename ei_unref<Nested>::type _Nested;
-  _Nested n(derived());
-  return n / n.norm();
-}
-
-/** Normalizes the vector, i.e. divides it by its own norm.
-  *
-  * \only_for_vectors
-  *
-  * \sa norm(), normalized()
-  */
-template<typename Derived>
-inline void MatrixBase<Derived>::normalize()
-{
-  *this /= norm();
-}
-
-/** \returns true if *this is approximately orthogonal to \a other,
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isOrthogonal.cpp
-  * Output: \verbinclude MatrixBase_isOrthogonal.out
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isOrthogonal
-(const MatrixBase<OtherDerived>& other, RealScalar prec) const
-{
-  typename ei_nested<Derived,2>::type nested(derived());
-  typename ei_nested<OtherDerived,2>::type otherNested(other.derived());
-  return ei_abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
-}
-
-/** \returns true if *this is approximately an unitary matrix,
-  *          within the precision given by \a prec. In the case where the \a Scalar
-  *          type is real numbers, a unitary matrix is an orthogonal matrix, whence the name.
-  *
-  * \note This can be used to check whether a family of vectors forms an orthonormal basis.
-  *       Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an
-  *       orthonormal basis.
-  *
-  * Example: \include MatrixBase_isUnitary.cpp
-  * Output: \verbinclude MatrixBase_isUnitary.out
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isUnitary(RealScalar prec) const
-{
-  typename Derived::Nested nested(derived());
-  for(int i = 0; i < cols(); ++i)
-  {
-    if(!ei_isApprox(nested.col(i).squaredNorm(), static_cast<Scalar>(1), prec))
-      return false;
-    for(int j = 0; j < i; ++j)
-      if(!ei_isMuchSmallerThan(nested.col(i).dot(nested.col(j)), static_cast<Scalar>(1), prec))
-        return false;
-  }
-  return true;
-}
-#endif // EIGEN_DOT_H
diff --git a/extern/Eigen2/Eigen/src/Core/Functors.h b/extern/Eigen2/Eigen/src/Core/Functors.h
deleted file mode 100644
index 969cad78d8f..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Functors.h
+++ /dev/null
@@ -1,378 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_FUNCTORS_H
-#define EIGEN_FUNCTORS_H
-
-// associative functors:
-
-/** \internal
-  * \brief Template functor to compute the sum of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator+, class PartialRedux, MatrixBase::sum()
-  */
-template<typename Scalar> struct ei_scalar_sum_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a + b; }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_padd(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_sum_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the product of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator*(), class PartialRedux, MatrixBase::redux()
-  */
-template<typename Scalar> struct ei_scalar_product_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a * b; }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_pmul(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_product_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the min of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class PartialRedux, MatrixBase::minCoeff()
-  */
-template<typename Scalar> struct ei_scalar_min_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return std::min(a, b); }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_pmin(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_min_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the max of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class PartialRedux, MatrixBase::maxCoeff()
-  */
-template<typename Scalar> struct ei_scalar_max_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return std::max(a, b); }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_pmax(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_max_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-  };
-};
-
-
-// other binary functors:
-
-/** \internal
-  * \brief Template functor to compute the difference of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator-
-  */
-template<typename Scalar> struct ei_scalar_difference_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a - b; }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_psub(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_difference_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the quotient of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator/()
-  */
-template<typename Scalar> struct ei_scalar_quotient_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a / b; }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a, const PacketScalar& b) const
-  { return ei_pdiv(a,b); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_quotient_op<Scalar> > {
-  enum {
-    Cost = 2 * NumTraits<Scalar>::MulCost,
-    PacketAccess = ei_packet_traits<Scalar>::size>1
-                  #if (defined EIGEN_VECTORIZE_SSE)
-                  && NumTraits<Scalar>::HasFloatingPoint
-                  #endif
-  };
-};
-
-// unary functors:
-
-/** \internal
-  * \brief Template functor to compute the opposite of a scalar
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator-
-  */
-template<typename Scalar> struct ei_scalar_opposite_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_opposite_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to compute the absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs
-  */
-template<typename Scalar> struct ei_scalar_abs_op EIGEN_EMPTY_STRUCT {
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return ei_abs(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_abs_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = false // this could actually be vectorized with SSSE3.
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the squared absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs2
-  */
-template<typename Scalar> struct ei_scalar_abs2_op EIGEN_EMPTY_STRUCT {
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return ei_abs2(a); }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pmul(a,a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_abs2_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = int(ei_packet_traits<Scalar>::size)>1 }; };
-
-/** \internal
-  * \brief Template functor to compute the conjugate of a complex value
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
-  */
-template<typename Scalar> struct ei_scalar_conjugate_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return ei_conj(a); }
-  template<typename PacketScalar>
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a) const { return a; }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_conjugate_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
-    PacketAccess = int(ei_packet_traits<Scalar>::size)>1
-  };
-};
-
-/** \internal
-  * \brief Template functor to cast a scalar to another type
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::cast()
-  */
-template<typename Scalar, typename NewType>
-struct ei_scalar_cast_op EIGEN_EMPTY_STRUCT {
-  typedef NewType result_type;
-  EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return static_cast<NewType>(a); }
-};
-template<typename Scalar, typename NewType>
-struct ei_functor_traits<ei_scalar_cast_op<Scalar,NewType> >
-{ enum { Cost = ei_is_same_type<Scalar, NewType>::ret ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the real part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::real()
-  */
-template<typename Scalar>
-struct ei_scalar_real_op EIGEN_EMPTY_STRUCT {
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return ei_real(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_real_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the imaginary part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::imag()
-  */
-template<typename Scalar>
-struct ei_scalar_imag_op EIGEN_EMPTY_STRUCT {
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return ei_imag(a); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_imag_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to multiply a scalar by a fixed other one
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator*, MatrixBase::operator/
-  */
-/* NOTE why doing the ei_pset1() in packetOp *is* an optimization ?
- * indeed it seems better to declare m_other as a PacketScalar and do the ei_pset1() once
- * in the constructor. However, in practice:
- *  - GCC does not like m_other as a PacketScalar and generate a load every time it needs it
- *  - one the other hand GCC is able to moves the ei_pset1() away the loop :)
- *  - simpler code ;)
- * (ICC and gcc 4.4 seems to perform well in both cases, the issue is visible with y = a*x + b*y)
- */
-template<typename Scalar>
-struct ei_scalar_multiple_op {
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE ei_scalar_multiple_op(const ei_scalar_multiple_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE ei_scalar_multiple_op(const Scalar& other) : m_other(other) { }
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pmul(a, ei_pset1(m_other)); }
-  const Scalar m_other;
-private:
-  ei_scalar_multiple_op& operator=(const ei_scalar_multiple_op&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_multiple_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = ei_packet_traits<Scalar>::size>1 }; };
-
-template<typename Scalar, bool HasFloatingPoint>
-struct ei_scalar_quotient1_impl {
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const ei_scalar_quotient1_impl& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const Scalar& other) : m_other(static_cast<Scalar>(1) / other) {}
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
-  EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a) const
-  { return ei_pmul(a, ei_pset1(m_other)); }
-  const Scalar m_other;
-private:
-  ei_scalar_quotient1_impl& operator=(const ei_scalar_quotient1_impl&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_quotient1_impl<Scalar,true> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = ei_packet_traits<Scalar>::size>1 }; };
-
-template<typename Scalar>
-struct ei_scalar_quotient1_impl<Scalar,false> {
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const ei_scalar_quotient1_impl& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const Scalar& other) : m_other(other) {}
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
-  const Scalar m_other;
-private:
-  ei_scalar_quotient1_impl& operator=(const ei_scalar_quotient1_impl&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_quotient1_impl<Scalar,false> >
-{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to divide a scalar by a fixed other one
-  *
-  * This functor is used to implement the quotient of a matrix by
-  * a scalar where the scalar type is not necessarily a floating point type.
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator/
-  */
-template<typename Scalar>
-struct ei_scalar_quotient1_op : ei_scalar_quotient1_impl<Scalar, NumTraits<Scalar>::HasFloatingPoint > {
-  EIGEN_STRONG_INLINE ei_scalar_quotient1_op(const Scalar& other)
-    : ei_scalar_quotient1_impl<Scalar, NumTraits<Scalar>::HasFloatingPoint >(other) {}
-private:
-  ei_scalar_quotient1_op& operator=(const ei_scalar_quotient1_op&);
-};
-
-// nullary functors
-
-template<typename Scalar>
-struct ei_scalar_constant_op {
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  EIGEN_STRONG_INLINE ei_scalar_constant_op(const ei_scalar_constant_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE ei_scalar_constant_op(const Scalar& other) : m_other(other) { }
-  EIGEN_STRONG_INLINE const Scalar operator() (int, int = 0) const { return m_other; }
-  EIGEN_STRONG_INLINE const PacketScalar packetOp() const { return ei_pset1(m_other); }
-  const Scalar m_other;
-private:
-  ei_scalar_constant_op& operator=(const ei_scalar_constant_op&);
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_constant_op<Scalar> >
-{ enum { Cost = 1, PacketAccess = ei_packet_traits<Scalar>::size>1, IsRepeatable = true }; };
-
-template<typename Scalar> struct ei_scalar_identity_op EIGEN_EMPTY_STRUCT {
-  EIGEN_STRONG_INLINE ei_scalar_identity_op(void) {}
-  EIGEN_STRONG_INLINE const Scalar operator() (int row, int col) const { return row==col ? Scalar(1) : Scalar(0); }
-};
-template<typename Scalar>
-struct ei_functor_traits<ei_scalar_identity_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
-
-// allow to add new functors and specializations of ei_functor_traits from outside Eigen.
-// this macro is really needed because ei_functor_traits must be specialized after it is declared but before it is used...
-#ifdef EIGEN_FUNCTORS_PLUGIN
-#include EIGEN_FUNCTORS_PLUGIN
-#endif
-
-// all functors allow linear access, except ei_scalar_identity_op. So we fix here a quick meta
-// to indicate whether a functor allows linear access, just always answering 'yes' except for
-// ei_scalar_identity_op.
-template<typename Functor> struct ei_functor_has_linear_access { enum { ret = 1 }; };
-template<typename Scalar> struct ei_functor_has_linear_access<ei_scalar_identity_op<Scalar> > { enum { ret = 0 }; };
-
-// in CwiseBinaryOp, we require the Lhs and Rhs to have the same scalar type, except for multiplication
-// where we only require them to have the same _real_ scalar type so one may multiply, say, float by complex<float>.
-template<typename Functor> struct ei_functor_allows_mixing_real_and_complex { enum { ret = 0 }; };
-template<typename Scalar> struct ei_functor_allows_mixing_real_and_complex<ei_scalar_product_op<Scalar> > { enum { ret = 1 }; };
-
-#endif // EIGEN_FUNCTORS_H
diff --git a/extern/Eigen2/Eigen/src/Core/Fuzzy.h b/extern/Eigen2/Eigen/src/Core/Fuzzy.h
deleted file mode 100644
index 1285542966c..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Fuzzy.h
+++ /dev/null
@@ -1,234 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_FUZZY_H
-#define EIGEN_FUZZY_H
-
-#ifndef EIGEN_LEGACY_COMPARES
-
-/** \returns \c true if \c *this is approximately equal to \a other, within the precision
-  * determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
-  * are considered to be approximately equal within precision \f$ p \f$ if
-  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
-  * L2 norm).
-  *
-  * \note Because of the multiplicativeness of this comparison, one can't use this function
-  * to check whether \c *this is approximately equal to the zero matrix or vector.
-  * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
-  * or vector. If you want to test whether \c *this is zero, use ei_isMuchSmallerThan(const
-  * RealScalar&, RealScalar) instead.
-  *
-  * \sa ei_isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isApprox(
-  const MatrixBase<OtherDerived>& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  const typename ei_nested<Derived,2>::type nested(derived());
-  const typename ei_nested<OtherDerived,2>::type otherNested(other.derived());
-  return (nested - otherNested).cwise().abs2().sum() <= prec * prec * std::min(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
-  *
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason,
-  * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm
-  * of a reference matrix of same dimensions.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const MatrixBase<OtherDerived>&, RealScalar) const
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isMuchSmallerThan(
-  const typename NumTraits<Scalar>::Real& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  return cwise().abs2().sum() <= prec * prec * other * other;
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isMuchSmallerThan(
-  const MatrixBase<OtherDerived>& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  return this->cwise().abs2().sum() <= prec * prec * other.cwise().abs2().sum();
-}
-
-#else
-
-template<typename Derived, typename OtherDerived=Derived, bool IsVector=Derived::IsVectorAtCompileTime>
-struct ei_fuzzy_selector;
-
-/** \returns \c true if \c *this is approximately equal to \a other, within the precision
-  * determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
-  * are considered to be approximately equal within precision \f$ p \f$ if
-  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
-  * For matrices, the comparison is done on all columns.
-  *
-  * \note Because of the multiplicativeness of this comparison, one can't use this function
-  * to check whether \c *this is approximately equal to the zero matrix or vector.
-  * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
-  * or vector. If you want to test whether \c *this is zero, use ei_isMuchSmallerThan(const
-  * RealScalar&, RealScalar) instead.
-  *
-  * \sa ei_isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isApprox(
-  const MatrixBase<OtherDerived>& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  return ei_fuzzy_selector<Derived,OtherDerived>::isApprox(derived(), other.derived(), prec);
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
-  * For matrices, the comparison is done on all columns.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const MatrixBase<OtherDerived>&, RealScalar) const
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isMuchSmallerThan(
-  const typename NumTraits<Scalar>::Real& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  return ei_fuzzy_selector<Derived>::isMuchSmallerThan(derived(), other, prec);
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
-  * For matrices, the comparison is done on all columns.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isMuchSmallerThan(
-  const MatrixBase<OtherDerived>& other,
-  typename NumTraits<Scalar>::Real prec
-) const
-{
-  return ei_fuzzy_selector<Derived,OtherDerived>::isMuchSmallerThan(derived(), other.derived(), prec);
-}
-
-
-template<typename Derived, typename OtherDerived>
-struct ei_fuzzy_selector<Derived,OtherDerived,true>
-{
-  typedef typename Derived::RealScalar RealScalar;
-  static bool isApprox(const Derived& self, const OtherDerived& other, RealScalar prec)
-  {
-    EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-    ei_assert(self.size() == other.size());
-    return((self - other).squaredNorm() <= std::min(self.squaredNorm(), other.squaredNorm()) * prec * prec);
-  }
-  static bool isMuchSmallerThan(const Derived& self, const RealScalar& other, RealScalar prec)
-  {
-    return(self.squaredNorm() <= ei_abs2(other * prec));
-  }
-  static bool isMuchSmallerThan(const Derived& self, const OtherDerived& other, RealScalar prec)
-  {
-    EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-    ei_assert(self.size() == other.size());
-    return(self.squaredNorm() <= other.squaredNorm() * prec * prec);
-  }
-};
-
-template<typename Derived, typename OtherDerived>
-struct ei_fuzzy_selector<Derived,OtherDerived,false>
-{
-  typedef typename Derived::RealScalar RealScalar;
-  static bool isApprox(const Derived& self, const OtherDerived& other, RealScalar prec)
-  {
-    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
-    ei_assert(self.rows() == other.rows() && self.cols() == other.cols());
-    typename Derived::Nested nested(self);
-    typename OtherDerived::Nested otherNested(other);
-    for(int i = 0; i < self.cols(); ++i)
-      if((nested.col(i) - otherNested.col(i)).squaredNorm()
-          > std::min(nested.col(i).squaredNorm(), otherNested.col(i).squaredNorm()) * prec * prec)
-        return false;
-    return true;
-  }
-  static bool isMuchSmallerThan(const Derived& self, const RealScalar& other, RealScalar prec)
-  {
-    typename Derived::Nested nested(self);
-    for(int i = 0; i < self.cols(); ++i)
-      if(nested.col(i).squaredNorm() > ei_abs2(other * prec))
-        return false;
-    return true;
-  }
-  static bool isMuchSmallerThan(const Derived& self, const OtherDerived& other, RealScalar prec)
-  {
-    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
-    ei_assert(self.rows() == other.rows() && self.cols() == other.cols());
-    typename Derived::Nested nested(self);
-    typename OtherDerived::Nested otherNested(other);
-    for(int i = 0; i < self.cols(); ++i)
-      if(nested.col(i).squaredNorm() > otherNested.col(i).squaredNorm() * prec * prec)
-        return false;
-    return true;
-  }
-};
-
-#endif
-
-#endif // EIGEN_FUZZY_H
diff --git a/extern/Eigen2/Eigen/src/Core/GenericPacketMath.h b/extern/Eigen2/Eigen/src/Core/GenericPacketMath.h
deleted file mode 100644
index b0eee29f70f..00000000000
--- a/extern/Eigen2/Eigen/src/Core/GenericPacketMath.h
+++ /dev/null
@@ -1,150 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_GENERIC_PACKET_MATH_H
-#define EIGEN_GENERIC_PACKET_MATH_H
-
-/** \internal
-  * \file GenericPacketMath.h
-  *
-  * Default implementation for types not supported by the vectorization.
-  * In practice these functions are provided to make easier the writing
-  * of generic vectorized code.
-  */
-
-/** \internal \returns a + b (coeff-wise) */
-template<typename Packet> inline Packet
-ei_padd(const Packet& a,
-        const Packet& b) { return a+b; }
-
-/** \internal \returns a - b (coeff-wise) */
-template<typename Packet> inline Packet
-ei_psub(const Packet& a,
-        const Packet& b) { return a-b; }
-
-/** \internal \returns a * b (coeff-wise) */
-template<typename Packet> inline Packet
-ei_pmul(const Packet& a,
-        const Packet& b) { return a*b; }
-
-/** \internal \returns a / b (coeff-wise) */
-template<typename Packet> inline Packet
-ei_pdiv(const Packet& a,
-        const Packet& b) { return a/b; }
-
-/** \internal \returns the min of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
-ei_pmin(const Packet& a,
-        const Packet& b) { return std::min(a, b); }
-
-/** \internal \returns the max of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
-ei_pmax(const Packet& a,
-        const Packet& b) { return std::max(a, b); }
-
-/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
-template<typename Scalar> inline typename ei_packet_traits<Scalar>::type
-ei_pload(const Scalar* from) { return *from; }
-
-/** \internal \returns a packet version of \a *from, (un-aligned load) */
-template<typename Scalar> inline typename ei_packet_traits<Scalar>::type
-ei_ploadu(const Scalar* from) { return *from; }
-
-/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
-template<typename Scalar> inline typename ei_packet_traits<Scalar>::type
-ei_pset1(const Scalar& a) { return a; }
-
-/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet> inline void ei_pstore(Scalar* to, const Packet& from)
-{ (*to) = from; }
-
-/** \internal copy the packet \a from to \a *to, (un-aligned store) */
-template<typename Scalar, typename Packet> inline void ei_pstoreu(Scalar* to, const Packet& from)
-{ (*to) = from; }
-
-/** \internal \returns the first element of a packet */
-template<typename Packet> inline typename ei_unpacket_traits<Packet>::type ei_pfirst(const Packet& a)
-{ return a; }
-
-/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
-template<typename Packet> inline Packet
-ei_preduxp(const Packet* vecs) { return vecs[0]; }
-
-/** \internal \returns the sum of the elements of \a a*/
-template<typename Packet> inline typename ei_unpacket_traits<Packet>::type ei_predux(const Packet& a)
-{ return a; }
-
-
-/***************************************************************************
-* The following functions might not have to be overwritten for vectorized types
-***************************************************************************/
-
-/** \internal \returns a * b + c (coeff-wise) */
-template<typename Packet> inline Packet
-ei_pmadd(const Packet&  a,
-         const Packet&  b,
-         const Packet&  c)
-{ return ei_padd(ei_pmul(a, b),c); }
-
-/** \internal \returns a packet version of \a *from.
-  * \If LoadMode equals Aligned, \a from must be 16 bytes aligned */
-template<typename Scalar, int LoadMode>
-inline typename ei_packet_traits<Scalar>::type ei_ploadt(const Scalar* from)
-{
-  if(LoadMode == Aligned)
-    return ei_pload(from);
-  else
-    return ei_ploadu(from);
-}
-
-/** \internal copy the packet \a from to \a *to.
-  * If StoreMode equals Aligned, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet, int LoadMode>
-inline void ei_pstoret(Scalar* to, const Packet& from)
-{
-  if(LoadMode == Aligned)
-    ei_pstore(to, from);
-  else
-    ei_pstoreu(to, from);
-}
-
-/** \internal default implementation of ei_palign() allowing partial specialization */
-template<int Offset,typename PacketType>
-struct ei_palign_impl
-{
-  // by default data are aligned, so there is nothing to be done :)
-  inline static void run(PacketType&, const PacketType&) {}
-};
-
-/** \internal update \a first using the concatenation of the \a Offset last elements
-  * of \a first and packet_size minus \a Offset first elements of \a second */
-template<int Offset,typename PacketType>
-inline void ei_palign(PacketType& first, const PacketType& second)
-{
-  ei_palign_impl<Offset,PacketType>::run(first,second);
-}
-
-#endif // EIGEN_GENERIC_PACKET_MATH_H
-
diff --git a/extern/Eigen2/Eigen/src/Core/Map.h b/extern/Eigen2/Eigen/src/Core/Map.h
deleted file mode 100644
index 5f44a87e685..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Map.h
+++ /dev/null
@@ -1,111 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MAP_H
-#define EIGEN_MAP_H
-
-/** \class Map
-  *
-  * \brief A matrix or vector expression mapping an existing array of data.
-  *
-  * \param MatrixType the equivalent matrix type of the mapped data
-  * \param _PacketAccess allows to enforce aligned loads and stores if set to ForceAligned.
-  *                      The default is AsRequested. This parameter is internaly used by Eigen
-  *                      in expressions such as \code Map<...>(...) += other; \endcode and most
-  *                      of the time this is the only way it is used.
-  *
-  * This class represents a matrix or vector expression mapping an existing array of data.
-  * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
-  * such as plain C arrays or structures from other libraries.
-  *
-  * This class is the return type of Matrix::Map() but can also be used directly.
-  *
-  * \sa Matrix::Map()
-  */
-template<typename MatrixType, int _PacketAccess>
-struct ei_traits<Map<MatrixType, _PacketAccess> > : public ei_traits<MatrixType>
-{
-  enum {
-    PacketAccess = _PacketAccess,
-    Flags = ei_traits<MatrixType>::Flags & ~AlignedBit
-  };
-  typedef typename ei_meta_if<int(PacketAccess)==ForceAligned,
-                              Map<MatrixType, _PacketAccess>&,
-                              Map<MatrixType, ForceAligned> >::ret AlignedDerivedType;
-};
-
-template<typename MatrixType, int PacketAccess> class Map
-  : public MapBase<Map<MatrixType, PacketAccess> >
-{
-  public:
-
-    _EIGEN_GENERIC_PUBLIC_INTERFACE(Map, MapBase<Map>)
-    typedef typename ei_traits<Map>::AlignedDerivedType AlignedDerivedType;
-
-    inline int stride() const { return this->innerSize(); }
-
-    AlignedDerivedType _convertToForceAligned()
-    {
-      return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
-    }
-
-    inline Map(const Scalar* data) : Base(data) {}
-
-    inline Map(const Scalar* data, int size) : Base(data, size) {}
-
-    inline Map(const Scalar* data, int rows, int cols) : Base(data, rows, cols) {}
-
-    inline void resize(int rows, int cols)
-    {
-      EIGEN_ONLY_USED_FOR_DEBUG(rows);
-      EIGEN_ONLY_USED_FOR_DEBUG(cols);
-      ei_assert(rows == this->rows());
-      ei_assert(cols == this->cols());
-    }
-
-    inline void resize(int size)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(MatrixType)
-      EIGEN_ONLY_USED_FOR_DEBUG(size);
-      ei_assert(size == this->size());
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-};
-
-/** Constructor copying an existing array of data.
-  * Only for fixed-size matrices and vectors.
-  * \param data The array of data to copy
-  *
-  * \sa Matrix::Map(const Scalar *)
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _StorageOrder, int _MaxRows, int _MaxCols>
-inline Matrix<_Scalar, _Rows, _Cols, _StorageOrder, _MaxRows, _MaxCols>
-  ::Matrix(const Scalar *data)
-{
-  _set_noalias(Eigen::Map<Matrix>(data));
-}
-
-#endif // EIGEN_MAP_H
diff --git a/extern/Eigen2/Eigen/src/Core/MapBase.h b/extern/Eigen2/Eigen/src/Core/MapBase.h
deleted file mode 100644
index c923bc34034..00000000000
--- a/extern/Eigen2/Eigen/src/Core/MapBase.h
+++ /dev/null
@@ -1,202 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MAPBASE_H
-#define EIGEN_MAPBASE_H
-
-/** \class MapBase
-  *
-  * \brief Base class for Map and Block expression with direct access
-  *
-  * Expression classes inheriting MapBase must define the constant \c PacketAccess,
-  * and type \c AlignedDerivedType in their respective ei_traits<> specialization structure.
-  * The value of \c PacketAccess can be either:
-  *  - \b ForceAligned which enforces both aligned loads and stores
-  *  - \b AsRequested which is the default behavior
-  * The type \c AlignedDerivedType should correspond to the equivalent expression type
-  * with \c PacketAccess being \c ForceAligned.
-  *
-  * \sa class Map, class Block
-  */
-template<typename Derived> class MapBase
-  : public MatrixBase<Derived>
-{
-  public:
-
-    typedef MatrixBase<Derived> Base;
-    enum {
-      IsRowMajor = (int(ei_traits<Derived>::Flags) & RowMajorBit) ? 1 : 0,
-      PacketAccess = ei_traits<Derived>::PacketAccess,
-      RowsAtCompileTime = ei_traits<Derived>::RowsAtCompileTime,
-      ColsAtCompileTime = ei_traits<Derived>::ColsAtCompileTime,
-      SizeAtCompileTime = Base::SizeAtCompileTime
-    };
-
-    typedef typename ei_traits<Derived>::AlignedDerivedType AlignedDerivedType;
-    typedef typename ei_traits<Derived>::Scalar Scalar;
-    typedef typename Base::PacketScalar PacketScalar;
-    using Base::derived;
-
-    inline int rows() const { return m_rows.value(); }
-    inline int cols() const { return m_cols.value(); }
-
-    inline int stride() const { return derived().stride(); }
-    inline const Scalar* data() const { return m_data; }
-
-    template<bool IsForceAligned,typename Dummy> struct force_aligned_impl {
-      AlignedDerivedType static run(MapBase& a) { return a.derived(); }
-    };
-
-    template<typename Dummy> struct force_aligned_impl<false,Dummy> {
-      AlignedDerivedType static run(MapBase& a) { return a.derived()._convertToForceAligned(); }
-    };
-
-    /** \returns an expression equivalent to \c *this but having the \c PacketAccess constant
-      * set to \c ForceAligned. Must be reimplemented by the derived class. */
-    AlignedDerivedType forceAligned()
-    {
-      return force_aligned_impl<int(PacketAccess)==int(ForceAligned),Derived>::run(*this);
-    }
-
-    inline const Scalar& coeff(int row, int col) const
-    {
-      if(IsRowMajor)
-        return m_data[col + row * stride()];
-      else // column-major
-        return m_data[row + col * stride()];
-    }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      if(IsRowMajor)
-        return const_cast<Scalar*>(m_data)[col + row * stride()];
-      else // column-major
-        return const_cast<Scalar*>(m_data)[row + col * stride()];
-    }
-
-    inline const Scalar coeff(int index) const
-    {
-      ei_assert(Derived::IsVectorAtCompileTime || (ei_traits<Derived>::Flags & LinearAccessBit));
-      if ( ((RowsAtCompileTime == 1) == IsRowMajor) )
-        return m_data[index];
-      else
-        return m_data[index*stride()];
-    }
-
-    inline Scalar& coeffRef(int index)
-    {
-      ei_assert(Derived::IsVectorAtCompileTime || (ei_traits<Derived>::Flags & LinearAccessBit));
-      if ( ((RowsAtCompileTime == 1) == IsRowMajor) )
-        return const_cast<Scalar*>(m_data)[index];
-      else
-        return const_cast<Scalar*>(m_data)[index*stride()];
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(int row, int col) const
-    {
-      return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode>
-               (m_data + (IsRowMajor ? col + row * stride()
-                                     : row + col * stride()));
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(int index) const
-    {
-      return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode>(m_data + index);
-    }
-
-    template<int StoreMode>
-    inline void writePacket(int row, int col, const PacketScalar& x)
-    {
-      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode>
-               (const_cast<Scalar*>(m_data) + (IsRowMajor ? col + row * stride()
-                                                          : row + col * stride()), x);
-    }
-
-    template<int StoreMode>
-    inline void writePacket(int index, const PacketScalar& x)
-    {
-      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode>
-        (const_cast<Scalar*>(m_data) + index, x);
-    }
-
-    inline MapBase(const Scalar* data) : m_data(data), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
-    {
-      EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-    }
-
-    inline MapBase(const Scalar* data, int size)
-            : m_data(data),
-              m_rows(RowsAtCompileTime == Dynamic ? size : RowsAtCompileTime),
-              m_cols(ColsAtCompileTime == Dynamic ? size : ColsAtCompileTime)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-      ei_assert(size > 0 || data == 0);
-      ei_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
-    }
-
-    inline MapBase(const Scalar* data, int rows, int cols)
-            : m_data(data), m_rows(rows), m_cols(cols)
-    {
-      ei_assert( (data == 0)
-              || (   rows > 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
-                  && cols > 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
-    }
-
-    Derived& operator=(const MapBase& other)
-    {
-      return Base::operator=(other);
-    }
-
-    template<typename OtherDerived>
-    Derived& operator=(const MatrixBase<OtherDerived>& other)
-    {
-      return Base::operator=(other);
-    }
-    
-    using Base::operator*=;
-
-    template<typename OtherDerived>
-    Derived& operator+=(const MatrixBase<OtherDerived>& other)
-    { return derived() = forceAligned() + other; }
-
-    template<typename OtherDerived>
-    Derived& operator-=(const MatrixBase<OtherDerived>& other)
-    { return derived() = forceAligned() - other; }
-
-    Derived& operator*=(const Scalar& other)
-    { return derived() = forceAligned() * other; }
-
-    Derived& operator/=(const Scalar& other)
-    { return derived() = forceAligned() / other; }
-
-  protected:
-    const Scalar* EIGEN_RESTRICT m_data;
-    const ei_int_if_dynamic<RowsAtCompileTime> m_rows;
-    const ei_int_if_dynamic<ColsAtCompileTime> m_cols;
-};
-
-#endif // EIGEN_MAPBASE_H
diff --git a/extern/Eigen2/Eigen/src/Core/MathFunctions.h b/extern/Eigen2/Eigen/src/Core/MathFunctions.h
deleted file mode 100644
index 1ee64af02c6..00000000000
--- a/extern/Eigen2/Eigen/src/Core/MathFunctions.h
+++ /dev/null
@@ -1,295 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MATHFUNCTIONS_H
-#define EIGEN_MATHFUNCTIONS_H
-
-template<typename T> inline typename NumTraits<T>::Real precision();
-template<typename T> inline typename NumTraits<T>::Real machine_epsilon();
-template<typename T> inline T ei_random(T a, T b);
-template<typename T> inline T ei_random();
-template<typename T> inline T ei_random_amplitude()
-{
-  if(NumTraits<T>::HasFloatingPoint) return static_cast<T>(1);
-  else return static_cast<T>(10);
-}
-
-template<typename T> inline T ei_hypot(T x, T y)
-{
-  T _x = ei_abs(x);
-  T _y = ei_abs(y);
-  T p = std::max(_x, _y);
-  T q = std::min(_x, _y);
-  T qp = q/p;
-  return p * ei_sqrt(T(1) + qp*qp);
-}
-
-/**************
-***   int   ***
-**************/
-
-template<> inline int precision<int>() { return 0; }
-template<> inline int machine_epsilon<int>() { return 0; }
-inline int ei_real(int x)  { return x; }
-inline int ei_imag(int)    { return 0; }
-inline int ei_conj(int x)  { return x; }
-inline int ei_abs(int x)   { return abs(x); }
-inline int ei_abs2(int x)  { return x*x; }
-inline int ei_sqrt(int)  { ei_assert(false); return 0; }
-inline int ei_exp(int)  { ei_assert(false); return 0; }
-inline int ei_log(int)  { ei_assert(false); return 0; }
-inline int ei_sin(int)  { ei_assert(false); return 0; }
-inline int ei_cos(int)  { ei_assert(false); return 0; }
-inline int ei_atan2(int, int)  { ei_assert(false); return 0; }
-inline int ei_pow(int x, int y) { return int(std::pow(double(x), y)); }
-
-template<> inline int ei_random(int a, int b)
-{
-  // We can't just do rand()%n as only the high-order bits are really random
-  return a + static_cast<int>((b-a+1) * (rand() / (RAND_MAX + 1.0)));
-}
-template<> inline int ei_random()
-{
-  return ei_random<int>(-ei_random_amplitude<int>(), ei_random_amplitude<int>());
-}
-inline bool ei_isMuchSmallerThan(int a, int, int = precision<int>())
-{
-  return a == 0;
-}
-inline bool ei_isApprox(int a, int b, int = precision<int>())
-{
-  return a == b;
-}
-inline bool ei_isApproxOrLessThan(int a, int b, int = precision<int>())
-{
-  return a <= b;
-}
-
-/**************
-*** float   ***
-**************/
-
-template<> inline float precision<float>() { return 1e-5f; }
-template<> inline float machine_epsilon<float>() { return 1.192e-07f; }
-inline float ei_real(float x)  { return x; }
-inline float ei_imag(float)    { return 0.f; }
-inline float ei_conj(float x)  { return x; }
-inline float ei_abs(float x)   { return std::abs(x); }
-inline float ei_abs2(float x)  { return x*x; }
-inline float ei_sqrt(float x)  { return std::sqrt(x); }
-inline float ei_exp(float x)   { return std::exp(x); }
-inline float ei_log(float x)   { return std::log(x); }
-inline float ei_sin(float x)   { return std::sin(x); }
-inline float ei_cos(float x)   { return std::cos(x); }
-inline float ei_atan2(float y, float x) { return std::atan2(y,x); }
-inline float ei_pow(float x, float y)  { return std::pow(x, y); }
-
-template<> inline float ei_random(float a, float b)
-{
-#ifdef EIGEN_NICE_RANDOM
-  int i;
-  do { i = ei_random<int>(256*int(a),256*int(b));
-  } while(i==0);
-  return float(i)/256.f;
-#else
-  return a + (b-a) * float(std::rand()) / float(RAND_MAX);
-#endif
-}
-template<> inline float ei_random()
-{
-  return ei_random<float>(-ei_random_amplitude<float>(), ei_random_amplitude<float>());
-}
-inline bool ei_isMuchSmallerThan(float a, float b, float prec = precision<float>())
-{
-  return ei_abs(a) <= ei_abs(b) * prec;
-}
-inline bool ei_isApprox(float a, float b, float prec = precision<float>())
-{
-  return ei_abs(a - b) <= std::min(ei_abs(a), ei_abs(b)) * prec;
-}
-inline bool ei_isApproxOrLessThan(float a, float b, float prec = precision<float>())
-{
-  return a <= b || ei_isApprox(a, b, prec);
-}
-
-/**************
-*** double  ***
-**************/
-
-template<> inline double precision<double>() { return 1e-11; }
-template<> inline double machine_epsilon<double>() { return 2.220e-16; }
-
-inline double ei_real(double x)  { return x; }
-inline double ei_imag(double)    { return 0.; }
-inline double ei_conj(double x)  { return x; }
-inline double ei_abs(double x)   { return std::abs(x); }
-inline double ei_abs2(double x)  { return x*x; }
-inline double ei_sqrt(double x)  { return std::sqrt(x); }
-inline double ei_exp(double x)   { return std::exp(x); }
-inline double ei_log(double x)   { return std::log(x); }
-inline double ei_sin(double x)   { return std::sin(x); }
-inline double ei_cos(double x)   { return std::cos(x); }
-inline double ei_atan2(double y, double x) { return std::atan2(y,x); }
-inline double ei_pow(double x, double y) { return std::pow(x, y); }
-
-template<> inline double ei_random(double a, double b)
-{
-#ifdef EIGEN_NICE_RANDOM
-  int i;
-  do { i= ei_random<int>(256*int(a),256*int(b));
-  } while(i==0);
-  return i/256.;
-#else
-  return a + (b-a) * std::rand() / RAND_MAX;
-#endif
-}
-template<> inline double ei_random()
-{
-  return ei_random<double>(-ei_random_amplitude<double>(), ei_random_amplitude<double>());
-}
-inline bool ei_isMuchSmallerThan(double a, double b, double prec = precision<double>())
-{
-  return ei_abs(a) <= ei_abs(b) * prec;
-}
-inline bool ei_isApprox(double a, double b, double prec = precision<double>())
-{
-  return ei_abs(a - b) <= std::min(ei_abs(a), ei_abs(b)) * prec;
-}
-inline bool ei_isApproxOrLessThan(double a, double b, double prec = precision<double>())
-{
-  return a <= b || ei_isApprox(a, b, prec);
-}
-
-/*********************
-*** complex<float> ***
-*********************/
-
-template<> inline float precision<std::complex<float> >() { return precision<float>(); }
-template<> inline float machine_epsilon<std::complex<float> >() { return machine_epsilon<float>(); }
-inline float ei_real(const std::complex<float>& x) { return std::real(x); }
-inline float ei_imag(const std::complex<float>& x) { return std::imag(x); }
-inline std::complex<float> ei_conj(const std::complex<float>& x) { return std::conj(x); }
-inline float ei_abs(const std::complex<float>& x) { return std::abs(x); }
-inline float ei_abs2(const std::complex<float>& x) { return std::norm(x); }
-inline std::complex<float> ei_exp(std::complex<float> x)  { return std::exp(x); }
-inline std::complex<float> ei_sin(std::complex<float> x)  { return std::sin(x); }
-inline std::complex<float> ei_cos(std::complex<float> x)  { return std::cos(x); }
-inline std::complex<float> ei_atan2(std::complex<float>, std::complex<float> )  { ei_assert(false); return 0; }
-
-template<> inline std::complex<float> ei_random()
-{
-  return std::complex<float>(ei_random<float>(), ei_random<float>());
-}
-inline bool ei_isMuchSmallerThan(const std::complex<float>& a, const std::complex<float>& b, float prec = precision<float>())
-{
-  return ei_abs2(a) <= ei_abs2(b) * prec * prec;
-}
-inline bool ei_isMuchSmallerThan(const std::complex<float>& a, float b, float prec = precision<float>())
-{
-  return ei_abs2(a) <= ei_abs2(b) * prec * prec;
-}
-inline bool ei_isApprox(const std::complex<float>& a, const std::complex<float>& b, float prec = precision<float>())
-{
-  return ei_isApprox(ei_real(a), ei_real(b), prec)
-      && ei_isApprox(ei_imag(a), ei_imag(b), prec);
-}
-// ei_isApproxOrLessThan wouldn't make sense for complex numbers
-
-/**********************
-*** complex<double> ***
-**********************/
-
-template<> inline double precision<std::complex<double> >() { return precision<double>(); }
-template<> inline double machine_epsilon<std::complex<double> >() { return machine_epsilon<double>(); }
-inline double ei_real(const std::complex<double>& x) { return std::real(x); }
-inline double ei_imag(const std::complex<double>& x) { return std::imag(x); }
-inline std::complex<double> ei_conj(const std::complex<double>& x) { return std::conj(x); }
-inline double ei_abs(const std::complex<double>& x) { return std::abs(x); }
-inline double ei_abs2(const std::complex<double>& x) { return std::norm(x); }
-inline std::complex<double> ei_exp(std::complex<double> x)  { return std::exp(x); }
-inline std::complex<double> ei_sin(std::complex<double> x)  { return std::sin(x); }
-inline std::complex<double> ei_cos(std::complex<double> x)  { return std::cos(x); }
-inline std::complex<double> ei_atan2(std::complex<double>, std::complex<double>)  { ei_assert(false); return 0; }
-
-template<> inline std::complex<double> ei_random()
-{
-  return std::complex<double>(ei_random<double>(), ei_random<double>());
-}
-inline bool ei_isMuchSmallerThan(const std::complex<double>& a, const std::complex<double>& b, double prec = precision<double>())
-{
-  return ei_abs2(a) <= ei_abs2(b) * prec * prec;
-}
-inline bool ei_isMuchSmallerThan(const std::complex<double>& a, double b, double prec = precision<double>())
-{
-  return ei_abs2(a) <= ei_abs2(b) * prec * prec;
-}
-inline bool ei_isApprox(const std::complex<double>& a, const std::complex<double>& b, double prec = precision<double>())
-{
-  return ei_isApprox(ei_real(a), ei_real(b), prec)
-      && ei_isApprox(ei_imag(a), ei_imag(b), prec);
-}
-// ei_isApproxOrLessThan wouldn't make sense for complex numbers
-
-
-/******************
-*** long double ***
-******************/
-
-template<> inline long double precision<long double>() { return precision<double>(); }
-template<> inline long double machine_epsilon<long double>() { return 1.084e-19l; }
-inline long double ei_real(long double x)  { return x; }
-inline long double ei_imag(long double)    { return 0.; }
-inline long double ei_conj(long double x)  { return x; }
-inline long double ei_abs(long double x)   { return std::abs(x); }
-inline long double ei_abs2(long double x)  { return x*x; }
-inline long double ei_sqrt(long double x)  { return std::sqrt(x); }
-inline long double ei_exp(long double x)   { return std::exp(x); }
-inline long double ei_log(long double x)   { return std::log(x); }
-inline long double ei_sin(long double x)   { return std::sin(x); }
-inline long double ei_cos(long double x)   { return std::cos(x); }
-inline long double ei_atan2(long double y, long double x) { return std::atan2(y,x); }
-inline long double ei_pow(long double x, long double y)  { return std::pow(x, y); }
-
-template<> inline long double ei_random(long double a, long double b)
-{
-  return ei_random<double>(static_cast<double>(a),static_cast<double>(b));
-}
-template<> inline long double ei_random()
-{
-  return ei_random<double>(-ei_random_amplitude<double>(), ei_random_amplitude<double>());
-}
-inline bool ei_isMuchSmallerThan(long double a, long double b, long double prec = precision<long double>())
-{
-  return ei_abs(a) <= ei_abs(b) * prec;
-}
-inline bool ei_isApprox(long double a, long double b, long double prec = precision<long double>())
-{
-  return ei_abs(a - b) <= std::min(ei_abs(a), ei_abs(b)) * prec;
-}
-inline bool ei_isApproxOrLessThan(long double a, long double b, long double prec = precision<long double>())
-{
-  return a <= b || ei_isApprox(a, b, prec);
-}
-
-#endif // EIGEN_MATHFUNCTIONS_H
diff --git a/extern/Eigen2/Eigen/src/Core/Matrix.h b/extern/Eigen2/Eigen/src/Core/Matrix.h
deleted file mode 100644
index 22090c777da..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Matrix.h
+++ /dev/null
@@ -1,639 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MATRIX_H
-#define EIGEN_MATRIX_H
-
-
-/** \class Matrix
-  *
-  * \brief The matrix class, also used for vectors and row-vectors
-  *
-  * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen.
-  * Vectors are matrices with one column, and row-vectors are matrices with one row.
-  *
-  * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
-  *
-  * The first three template parameters are required:
-  * \param _Scalar Numeric type, i.e. float, double, int
-  * \param _Rows Number of rows, or \b Dynamic
-  * \param _Cols Number of columns, or \b Dynamic
-  *
-  * The remaining template parameters are optional -- in most cases you don't have to worry about them.
-  * \param _Options A combination of either \b RowMajor or \b ColMajor, and of either
-  *                 \b AutoAlign or \b DontAlign.
-  *                 The former controls storage order, and defaults to column-major. The latter controls alignment, which is required
-  *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
-  * \param _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note").
-  * \param _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note").
-  *
-  * Eigen provides a number of typedefs covering the usual cases. Here are some examples:
-  *
-  * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>)
-  * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>)
-  * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>)
-  *
-  * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
-  * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
-  *
-  * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
-  *
-  * You can access elements of vectors and matrices using normal subscripting:
-  *
-  * \code
-  * Eigen::VectorXd v(10);
-  * v[0] = 0.1;
-  * v[1] = 0.2;
-  * v(0) = 0.3;
-  * v(1) = 0.4;
-  *
-  * Eigen::MatrixXi m(10, 10);
-  * m(0, 1) = 1;
-  * m(0, 2) = 2;
-  * m(0, 3) = 3;
-  * \endcode
-  *
-  * <i><b>Some notes:</b></i>
-  *
-  * <dl>
-  * <dt><b>\anchor dense Dense versus sparse:</b></dt>
-  * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module.
-  *
-  * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array.
-  * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd>
-  *
-  * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt>
-  * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array
-  * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up
-  * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time.
-  *
-  * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime
-  * variables, and the array of coefficients is allocated dynamically on the heap.
-  *
-  * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map.
-  * If you want this behavior, see the Sparse module.</dd>
-  *
-  * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt>
-  * <dd>In most cases, one just leaves these parameters to the default values.
-  * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases
-  * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot
-  * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols
-  * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
-  * </dl>
-  *
-  * \see MatrixBase for the majority of the API methods for matrices
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct ei_traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef _Scalar Scalar;
-  enum {
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _MaxRows,
-    MaxColsAtCompileTime = _MaxCols,
-    Flags = ei_compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost
-  };
-};
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-class Matrix
-  : public MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  public:
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Matrix)
-    enum { Options = _Options };
-    friend class Eigen::Map<Matrix, Unaligned>;
-    typedef class Eigen::Map<Matrix, Unaligned> UnalignedMapType;
-    friend class Eigen::Map<Matrix, Aligned>;
-    typedef class Eigen::Map<Matrix, Aligned> AlignedMapType;
-
-  protected:
-    ei_matrix_storage<Scalar, MaxSizeAtCompileTime, RowsAtCompileTime, ColsAtCompileTime, Options> m_storage;
-
-  public:
-    enum { NeedsToAlign = (Options&AutoAlign) == AutoAlign
-                          && SizeAtCompileTime!=Dynamic && ((sizeof(Scalar)*SizeAtCompileTime)%16)==0 };
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
-    
-    Base& base() { return *static_cast<Base*>(this); }
-    const Base& base() const { return *static_cast<const Base*>(this); }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_storage.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_storage.cols(); }
-
-    EIGEN_STRONG_INLINE int stride(void) const
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.cols();
-      else
-        return m_storage.rows();
-    }
-
-    EIGEN_STRONG_INLINE const Scalar& coeff(int row, int col) const
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.data()[col + row * m_storage.cols()];
-      else // column-major
-        return m_storage.data()[row + col * m_storage.rows()];
-    }
-
-    EIGEN_STRONG_INLINE const Scalar& coeff(int index) const
-    {
-      return m_storage.data()[index];
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(int row, int col)
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.data()[col + row * m_storage.cols()];
-      else // column-major
-        return m_storage.data()[row + col * m_storage.rows()];
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(int index)
-    {
-      return m_storage.data()[index];
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int row, int col) const
-    {
-      return ei_ploadt<Scalar, LoadMode>
-               (m_storage.data() + (Flags & RowMajorBit
-                                   ? col + row * m_storage.cols()
-                                   : row + col * m_storage.rows()));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int index) const
-    {
-      return ei_ploadt<Scalar, LoadMode>(m_storage.data() + index);
-    }
-
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket(int row, int col, const PacketScalar& x)
-    {
-      ei_pstoret<Scalar, PacketScalar, StoreMode>
-              (m_storage.data() + (Flags & RowMajorBit
-                                   ? col + row * m_storage.cols()
-                                   : row + col * m_storage.rows()), x);
-    }
-
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket(int index, const PacketScalar& x)
-    {
-      ei_pstoret<Scalar, PacketScalar, StoreMode>(m_storage.data() + index, x);
-    }
-
-    /** \returns a const pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE const Scalar *data() const
-    { return m_storage.data(); }
-
-    /** \returns a pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE Scalar *data()
-    { return m_storage.data(); }
-
-    /** Resizes \c *this to a \a rows x \a cols matrix.
-      *
-      * Makes sense for dynamic-size matrices only.
-      *
-      * If the current number of coefficients of \c *this exactly matches the
-      * product \a rows * \a cols, then no memory allocation is performed and
-      * the current values are left unchanged. In all other cases, including
-      * shrinking, the data is reallocated and all previous values are lost.
-      *
-      * \sa resize(int) for vectors.
-      */
-    inline void resize(int rows, int cols)
-    {
-      ei_assert((MaxRowsAtCompileTime == Dynamic || MaxRowsAtCompileTime >= rows)
-             && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
-             && (MaxColsAtCompileTime == Dynamic || MaxColsAtCompileTime >= cols)
-             && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
-      m_storage.resize(rows * cols, rows, cols);
-    }
-
-    /** Resizes \c *this to a vector of length \a size
-      *
-      * \sa resize(int,int) for the details.
-      */
-    inline void resize(int size)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
-      if(RowsAtCompileTime == 1)
-        m_storage.resize(size, 1, size);
-      else
-        m_storage.resize(size, size, 1);
-    }
-
-    /** Copies the value of the expression \a other into \c *this with automatic resizing.
-      *
-      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
-      * it will be initialized.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other)
-    {
-      return _set(other);
-    }
-
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
-    {
-      return _set(other);
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Matrix, +=)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Matrix, -=)
-    EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Matrix, *=)
-    EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Matrix, /=)
-
-    /** Default constructor.
-      *
-      * For fixed-size matrices, does nothing.
-      *
-      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
-      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
-      * a matrix to 0 is not supported.
-      *
-      * \sa resize(int,int)
-      */
-    EIGEN_STRONG_INLINE explicit Matrix() : m_storage()
-    {
-      _check_template_params();
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal */
-    Matrix(ei_constructor_without_unaligned_array_assert)
-      : m_storage(ei_constructor_without_unaligned_array_assert())
-    {}
-#endif
-
-    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Matrix() instead.
-      */
-    EIGEN_STRONG_INLINE explicit Matrix(int dim)
-      : m_storage(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
-    {
-      _check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
-      ei_assert(dim > 0);
-      ei_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
-    }
-
-    /** This constructor has two very different behaviors, depending on the type of *this.
-      *
-      * \li When Matrix is a fixed-size vector type of size 2, this constructor constructs
-      *     an initialized vector. The parameters \a x, \a y are copied into the first and second
-      *     coords of the vector respectively.
-      * \li Otherwise, this constructor constructs an uninitialized matrix with \a x rows and
-      *     \a y columns. This is useful for dynamic-size matrices. For fixed-size matrices,
-      *     it is redundant to pass these parameters, so one should use the default constructor
-      *     Matrix() instead.
-      */
-    EIGEN_STRONG_INLINE Matrix(int x, int y) : m_storage(x*y, x, y)
-    {
-      _check_template_params();
-      if((RowsAtCompileTime == 1 && ColsAtCompileTime == 2)
-      || (RowsAtCompileTime == 2 && ColsAtCompileTime == 1))
-      {
-        m_storage.data()[0] = Scalar(x);
-        m_storage.data()[1] = Scalar(y);
-      }
-      else
-      {
-        ei_assert(x > 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == x)
-               && y > 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == y));
-      }
-    }
-    /** constructs an initialized 2D vector with given coefficients */
-    EIGEN_STRONG_INLINE Matrix(const float& x, const float& y)
-    {
-      _check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 2)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-    }
-    /** constructs an initialized 2D vector with given coefficients */
-    EIGEN_STRONG_INLINE Matrix(const double& x, const double& y)
-    {
-      _check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 2)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-    }
-    /** constructs an initialized 3D vector with given coefficients */
-    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
-    {
-      _check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-      m_storage.data()[2] = z;
-    }
-    /** constructs an initialized 4D vector with given coefficients */
-    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
-    {
-      _check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-      m_storage.data()[2] = z;
-      m_storage.data()[3] = w;
-    }
-
-    explicit Matrix(const Scalar *data);
-
-    /** Constructor copying the value of the expression \a other */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other)
-             : m_storage(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      _check_template_params();
-      _set_noalias(other);
-    }
-    /** Copy constructor */
-    EIGEN_STRONG_INLINE Matrix(const Matrix& other)
-            : Base(), m_storage(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      _check_template_params();
-      _set_noalias(other);
-    }
-    /** Destructor */
-    inline ~Matrix() {}
-
-    /** Override MatrixBase::swap() since for dynamic-sized matrices of same type it is enough to swap the
-      * data pointers.
-      */
-    template<typename OtherDerived>
-    void swap(const MatrixBase<OtherDerived>& other);
-
-    /** \name Map
-      * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
-      * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
-      * \a data pointers.
-      *
-      * \see class Map
-      */
-    //@{
-    inline static const UnalignedMapType Map(const Scalar* data)
-    { return UnalignedMapType(data); }
-    inline static UnalignedMapType Map(Scalar* data)
-    { return UnalignedMapType(data); }
-    inline static const UnalignedMapType Map(const Scalar* data, int size)
-    { return UnalignedMapType(data, size); }
-    inline static UnalignedMapType Map(Scalar* data, int size)
-    { return UnalignedMapType(data, size); }
-    inline static const UnalignedMapType Map(const Scalar* data, int rows, int cols)
-    { return UnalignedMapType(data, rows, cols); }
-    inline static UnalignedMapType Map(Scalar* data, int rows, int cols)
-    { return UnalignedMapType(data, rows, cols); }
-
-    inline static const AlignedMapType MapAligned(const Scalar* data)
-    { return AlignedMapType(data); }
-    inline static AlignedMapType MapAligned(Scalar* data)
-    { return AlignedMapType(data); }
-    inline static const AlignedMapType MapAligned(const Scalar* data, int size)
-    { return AlignedMapType(data, size); }
-    inline static AlignedMapType MapAligned(Scalar* data, int size)
-    { return AlignedMapType(data, size); }
-    inline static const AlignedMapType MapAligned(const Scalar* data, int rows, int cols)
-    { return AlignedMapType(data, rows, cols); }
-    inline static AlignedMapType MapAligned(Scalar* data, int rows, int cols)
-    { return AlignedMapType(data, rows, cols); }
-    //@}
-
-    using Base::setConstant;
-    Matrix& setConstant(int size, const Scalar& value);
-    Matrix& setConstant(int rows, int cols, const Scalar& value);
-
-    using Base::setZero;
-    Matrix& setZero(int size);
-    Matrix& setZero(int rows, int cols);
-
-    using Base::setOnes;
-    Matrix& setOnes(int size);
-    Matrix& setOnes(int rows, int cols);
-
-    using Base::setRandom;
-    Matrix& setRandom(int size);
-    Matrix& setRandom(int rows, int cols);
-
-    using Base::setIdentity;
-    Matrix& setIdentity(int rows, int cols);
-
-/////////// Geometry module ///////////
-
-    template<typename OtherDerived>
-    explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    template<typename OtherDerived>
-    Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
-
-    // allow to extend Matrix outside Eigen
-    #ifdef EIGEN_MATRIX_PLUGIN
-    #include EIGEN_MATRIX_PLUGIN
-    #endif
-
-  private:
-    /** \internal Resizes *this in preparation for assigning \a other to it.
-      * Takes care of doing all the checking that's needed.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _resize_to_match(const MatrixBase<OtherDerived>& other)
-    {
-      if(RowsAtCompileTime == 1)
-      {
-        ei_assert(other.isVector());
-        resize(1, other.size());
-      }
-      else if(ColsAtCompileTime == 1)
-      {
-        ei_assert(other.isVector());
-        resize(other.size(), 1);
-      }
-      else resize(other.rows(), other.cols());
-    }
-
-    /** \internal Copies the value of the expression \a other into \c *this with automatic resizing.
-      *
-      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
-      * it will be initialized.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      *
-      * \sa operator=(const MatrixBase<OtherDerived>&), _set_noalias()
-      */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix& _set(const MatrixBase<OtherDerived>& other)
-    {
-      // this enum introduced to fix compilation with gcc 3.3
-      enum { cond = int(OtherDerived::Flags) & EvalBeforeAssigningBit };
-      _set_selector(other.derived(), typename ei_meta_if<bool(cond), ei_meta_true, ei_meta_false>::ret());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const ei_meta_true&) { _set_noalias(other.eval()); }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const ei_meta_false&) { _set_noalias(other); }
-
-    /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
-      * is the case when creating a new matrix) so one can enforce lazy evaluation.
-      *
-      * \sa operator=(const MatrixBase<OtherDerived>&), _set()
-      */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix& _set_noalias(const MatrixBase<OtherDerived>& other)
-    {
-      _resize_to_match(other);
-      // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
-      // it wouldn't allow to copy a row-vector into a column-vector.
-      return ei_assign_selector<Matrix,OtherDerived,false>::run(*this, other.derived());
-    }
-
-    static EIGEN_STRONG_INLINE void _check_template_params()
-    {
-        EIGEN_STATIC_ASSERT((_Rows > 0
-                        && _Cols > 0
-                        && _MaxRows <= _Rows
-                        && _MaxCols <= _Cols
-                        && (_Options & (AutoAlign|RowMajor)) == _Options),
-          INVALID_MATRIX_TEMPLATE_PARAMETERS)
-    }
-    
-    template<typename MatrixType, typename OtherDerived, bool IsSameType, bool IsDynamicSize>
-    friend struct ei_matrix_swap_impl;
-};
-
-template<typename MatrixType, typename OtherDerived,
-         bool IsSameType = ei_is_same_type<MatrixType, OtherDerived>::ret,
-         bool IsDynamicSize = MatrixType::SizeAtCompileTime==Dynamic>
-struct ei_matrix_swap_impl
-{
-  static inline void run(MatrixType& matrix, MatrixBase<OtherDerived>& other)
-  {
-    matrix.base().swap(other);
-  }
-};
-
-template<typename MatrixType, typename OtherDerived>
-struct ei_matrix_swap_impl<MatrixType, OtherDerived, true, true>
-{
-  static inline void run(MatrixType& matrix, MatrixBase<OtherDerived>& other)
-  {
-    matrix.m_storage.swap(other.derived().m_storage);
-  }
-};
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-inline void Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::swap(const MatrixBase<OtherDerived>& other)
-{
-  ei_matrix_swap_impl<Matrix, OtherDerived>::run(*this, *const_cast<MatrixBase<OtherDerived>*>(&other));
-}
-
-
-/** \defgroup matrixtypedefs Global matrix typedefs
-  *
-  * \ingroup Core_Module
-  *
-  * Eigen defines several typedef shortcuts for most common matrix and vector types.
-  *
-  * The general patterns are the following:
-  *
-  * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
-  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
-  * for complex double.
-  *
-  * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats.
-  *
-  * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is
-  * a fixed-size vector of 4 complex floats.
-  *
-  * \sa class Matrix
-  */
-
-#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix;  \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
-
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
-
-#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
-#undef EIGEN_MAKE_TYPEDEFS
-
-#undef EIGEN_MAKE_TYPEDEFS_LARGE
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
-using Eigen::Matrix##SizeSuffix##TypeSuffix; \
-using Eigen::Vector##SizeSuffix##TypeSuffix; \
-using Eigen::RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(TypeSuffix) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
-
-#define EIGEN_USING_MATRIX_TYPEDEFS \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(i) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(f) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(d) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cf) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cd)
-
-#endif // EIGEN_MATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Core/MatrixBase.h b/extern/Eigen2/Eigen/src/Core/MatrixBase.h
deleted file mode 100644
index 7935a7554ea..00000000000
--- a/extern/Eigen2/Eigen/src/Core/MatrixBase.h
+++ /dev/null
@@ -1,632 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MATRIXBASE_H
-#define EIGEN_MATRIXBASE_H
-
-/** \class MatrixBase
-  *
-  * \brief Base class for all matrices, vectors, and expressions
-  *
-  * This class is the base that is inherited by all matrix, vector, and expression
-  * types. Most of the Eigen API is contained in this class. Other important classes for
-  * the Eigen API are Matrix, Cwise, and PartialRedux.
-  *
-  * Note that some methods are defined in the \ref Array module.
-  *
-  * \param Derived is the derived type, e.g. a matrix type, or an expression, etc.
-  *
-  * When writing a function taking Eigen objects as argument, if you want your function
-  * to take as argument any matrix, vector, or expression, just let it take a
-  * MatrixBase argument. As an example, here is a function printFirstRow which, given
-  * a matrix, vector, or expression \a x, prints the first row of \a x.
-  *
-  * \code
-    template<typename Derived>
-    void printFirstRow(const Eigen::MatrixBase<Derived>& x)
-    {
-      cout << x.row(0) << endl;
-    }
-  * \endcode
-  *
-  */
-template<typename Derived> class MatrixBase
-{
-  public:
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    class InnerIterator;
-
-    typedef typename ei_traits<Derived>::Scalar Scalar;
-    typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    enum {
-
-      RowsAtCompileTime = ei_traits<Derived>::RowsAtCompileTime,
-        /**< The number of rows at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
-
-      ColsAtCompileTime = ei_traits<Derived>::ColsAtCompileTime,
-        /**< The number of columns at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
-
-
-      SizeAtCompileTime = (ei_size_at_compile_time<ei_traits<Derived>::RowsAtCompileTime,
-                                                   ei_traits<Derived>::ColsAtCompileTime>::ret),
-        /**< This is equal to the number of coefficients, i.e. the number of
-          * rows times the number of columns, or to \a Dynamic if this is not
-          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-
-      MaxRowsAtCompileTime = ei_traits<Derived>::MaxRowsAtCompileTime,
-        /**< This value is equal to the maximum possible number of rows that this expression
-          * might have. If this expression might have an arbitrarily high number of rows,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
-          */
-
-      MaxColsAtCompileTime = ei_traits<Derived>::MaxColsAtCompileTime,
-        /**< This value is equal to the maximum possible number of columns that this expression
-          * might have. If this expression might have an arbitrarily high number of columns,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
-          */
-
-      MaxSizeAtCompileTime = (ei_size_at_compile_time<ei_traits<Derived>::MaxRowsAtCompileTime,
-                                                      ei_traits<Derived>::MaxColsAtCompileTime>::ret),
-        /**< This value is equal to the maximum possible number of coefficients that this expression
-          * might have. If this expression might have an arbitrarily high number of coefficients,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
-          */
-
-      IsVectorAtCompileTime = ei_traits<Derived>::RowsAtCompileTime == 1
-                           || ei_traits<Derived>::ColsAtCompileTime == 1,
-        /**< This is set to true if either the number of rows or the number of
-          * columns is known at compile-time to be equal to 1. Indeed, in that case,
-          * we are dealing with a column-vector (if there is only one column) or with
-          * a row-vector (if there is only one row). */
-
-      Flags = ei_traits<Derived>::Flags,
-        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
-          * constructed from this one. See the \ref flags "list of flags".
-          */
-
-      CoeffReadCost = ei_traits<Derived>::CoeffReadCost
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-          * this expression.
-          */
-    };
-
-    /** Default constructor. Just checks at compile-time for self-consistency of the flags. */
-    MatrixBase()
-    {
-      ei_assert(ei_are_flags_consistent<Flags>::ret);
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is the "real scalar" type; if the \a Scalar type is already real numbers
-      * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
-      * \a Scalar is \a std::complex<T> then RealScalar is \a T.
-      *
-      * \sa class NumTraits
-      */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** type of the equivalent square matrix */
-    typedef Matrix<Scalar,EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime),
-                          EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-    inline int rows() const { return derived().rows(); }
-    /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-    inline int cols() const { return derived().cols(); }
-    /** \returns the number of coefficients, which is \a rows()*cols().
-      * \sa rows(), cols(), SizeAtCompileTime. */
-    inline int size() const { return rows() * cols(); }
-    /** \returns the number of nonzero coefficients which is in practice the number
-      * of stored coefficients. */
-    inline int nonZeros() const { return derived.nonZeros(); }
-    /** \returns true if either the number of rows or the number of columns is equal to 1.
-      * In other words, this function returns
-      * \code rows()==1 || cols()==1 \endcode
-      * \sa rows(), cols(), IsVectorAtCompileTime. */
-    inline bool isVector() const { return rows()==1 || cols()==1; }
-    /** \returns the size of the storage major dimension,
-      * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
-    int outerSize() const { return (int(Flags)&RowMajorBit) ? this->rows() : this->cols(); }
-    /** \returns the size of the inner dimension according to the storage order,
-      * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
-    int innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
-      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
-      * reference to a matrix, not a matrix! It guaranteed however, that the return type of eval() is either
-      * PlainMatrixType or const PlainMatrixType&.
-      */
-    typedef typename ei_plain_matrix_type<Derived>::type PlainMatrixType;
-    /** \internal the column-major plain matrix type corresponding to this expression. Note that is not necessarily
-      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
-      * reference to a matrix, not a matrix!
-      * The only difference from PlainMatrixType is that PlainMatrixType_ColMajor is guaranteed to be column-major.
-      */
-    typedef typename ei_plain_matrix_type<Derived>::type PlainMatrixType_ColMajor;
-
-    /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<ei_scalar_constant_op<Scalar>,Derived> ConstantReturnType;
-    /** \internal Represents a scalar multiple of a matrix */
-    typedef CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, Derived> ScalarMultipleReturnType;
-    /** \internal Represents a quotient of a matrix by a scalar*/
-    typedef CwiseUnaryOp<ei_scalar_quotient1_op<Scalar>, Derived> ScalarQuotient1ReturnType;
-    /** \internal the return type of MatrixBase::conjugate() */
-    typedef typename ei_meta_if<NumTraits<Scalar>::IsComplex,
-                        const CwiseUnaryOp<ei_scalar_conjugate_op<Scalar>, Derived>,
-                        const Derived&
-                     >::ret ConjugateReturnType;
-    /** \internal the return type of MatrixBase::real() */
-    typedef CwiseUnaryOp<ei_scalar_real_op<Scalar>, Derived> RealReturnType;
-    /** \internal the return type of MatrixBase::imag() */
-    typedef CwiseUnaryOp<ei_scalar_imag_op<Scalar>, Derived> ImagReturnType;
-    /** \internal the return type of MatrixBase::adjoint() */
-    typedef Eigen::Transpose<NestByValue<typename ei_cleantype<ConjugateReturnType>::type> >
-            AdjointReturnType;
-    /** \internal the return type of MatrixBase::eigenvalues() */
-    typedef Matrix<typename NumTraits<typename ei_traits<Derived>::Scalar>::Real, ei_traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
-    /** \internal expression tyepe of a column */
-    typedef Block<Derived, ei_traits<Derived>::RowsAtCompileTime, 1> ColXpr;
-    /** \internal expression tyepe of a column */
-    typedef Block<Derived, 1, ei_traits<Derived>::ColsAtCompileTime> RowXpr;
-    /** \internal the return type of identity */
-    typedef CwiseNullaryOp<ei_scalar_identity_op<Scalar>,Derived> IdentityReturnType;
-    /** \internal the return type of unit vectors */
-    typedef Block<CwiseNullaryOp<ei_scalar_identity_op<Scalar>, SquareMatrixType>,
-                  ei_traits<Derived>::RowsAtCompileTime,
-                  ei_traits<Derived>::ColsAtCompileTime> BasisReturnType;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-
-    /** Copies \a other into *this. \returns a reference to *this. */
-    template<typename OtherDerived>
-    Derived& operator=(const MatrixBase<OtherDerived>& other);
-
-    /** Special case of the template operator=, in order to prevent the compiler
-      * from generating a default operator= (issue hit with g++ 4.1)
-      */
-    inline Derived& operator=(const MatrixBase& other)
-    {
-      return this->operator=<Derived>(other);
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** Copies \a other into *this without evaluating other. \returns a reference to *this. */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const MatrixBase<OtherDerived>& other);
-
-    /** Overloaded for cache friendly product evaluation */
-    template<typename Lhs, typename Rhs>
-    Derived& lazyAssign(const Product<Lhs,Rhs,CacheFriendlyProduct>& product);
-
-    /** Overloaded for cache friendly product evaluation */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const Flagged<OtherDerived, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit>& other)
-    { return lazyAssign(other._expression()); }
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    CommaInitializer<Derived> operator<< (const Scalar& s);
-
-    template<typename OtherDerived>
-    CommaInitializer<Derived> operator<< (const MatrixBase<OtherDerived>& other);
-
-    const Scalar coeff(int row, int col) const;
-    const Scalar operator()(int row, int col) const;
-
-    Scalar& coeffRef(int row, int col);
-    Scalar& operator()(int row, int col);
-
-    const Scalar coeff(int index) const;
-    const Scalar operator[](int index) const;
-    const Scalar operator()(int index) const;
-
-    Scalar& coeffRef(int index);
-    Scalar& operator[](int index);
-    Scalar& operator()(int index);
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename OtherDerived>
-    void copyCoeff(int row, int col, const MatrixBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    void copyCoeff(int index, const MatrixBase<OtherDerived>& other);
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(int row, int col, const MatrixBase<OtherDerived>& other);
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(int index, const MatrixBase<OtherDerived>& other);
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    template<int LoadMode>
-    PacketScalar packet(int row, int col) const;
-    template<int StoreMode>
-    void writePacket(int row, int col, const PacketScalar& x);
-
-    template<int LoadMode>
-    PacketScalar packet(int index) const;
-    template<int StoreMode>
-    void writePacket(int index, const PacketScalar& x);
-
-    const Scalar x() const;
-    const Scalar y() const;
-    const Scalar z() const;
-    const Scalar w() const;
-    Scalar& x();
-    Scalar& y();
-    Scalar& z();
-    Scalar& w();
-
-
-    const CwiseUnaryOp<ei_scalar_opposite_op<typename ei_traits<Derived>::Scalar>,Derived> operator-() const;
-
-    template<typename OtherDerived>
-    const CwiseBinaryOp<ei_scalar_sum_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-    operator+(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const CwiseBinaryOp<ei_scalar_difference_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-    operator-(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    Derived& operator+=(const MatrixBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    Derived& operator-=(const MatrixBase<OtherDerived>& other);
-
-    template<typename Lhs,typename Rhs>
-    Derived& operator+=(const Flagged<Product<Lhs,Rhs,CacheFriendlyProduct>, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit>& other);
-
-    Derived& operator*=(const Scalar& other);
-    Derived& operator/=(const Scalar& other);
-
-    const ScalarMultipleReturnType operator*(const Scalar& scalar) const;
-    const CwiseUnaryOp<ei_scalar_quotient1_op<typename ei_traits<Derived>::Scalar>, Derived>
-    operator/(const Scalar& scalar) const;
-
-    inline friend const CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<Derived>::Scalar>, Derived>
-    operator*(const Scalar& scalar, const MatrixBase& matrix)
-    { return matrix*scalar; }
-
-
-    template<typename OtherDerived>
-    const typename ProductReturnType<Derived,OtherDerived>::Type
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    Derived& operator*=(const MatrixBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    typename ei_plain_matrix_type_column_major<OtherDerived>::type
-		solveTriangular(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived>
-    void solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const;
-
-
-    template<typename OtherDerived>
-    Scalar dot(const MatrixBase<OtherDerived>& other) const;
-    RealScalar squaredNorm() const;
-    RealScalar norm()  const;
-    const PlainMatrixType normalized() const;
-    void normalize();
-
-    Eigen::Transpose<Derived> transpose();
-    const Eigen::Transpose<Derived> transpose() const;
-    void transposeInPlace();
-    const AdjointReturnType adjoint() const;
-
-
-    RowXpr row(int i);
-    const RowXpr row(int i) const;
-
-    ColXpr col(int i);
-    const ColXpr col(int i) const;
-
-    Minor<Derived> minor(int row, int col);
-    const Minor<Derived> minor(int row, int col) const;
-
-    typename BlockReturnType<Derived>::Type block(int startRow, int startCol, int blockRows, int blockCols);
-    const typename BlockReturnType<Derived>::Type
-    block(int startRow, int startCol, int blockRows, int blockCols) const;
-
-    typename BlockReturnType<Derived>::SubVectorType segment(int start, int size);
-    const typename BlockReturnType<Derived>::SubVectorType segment(int start, int size) const;
-
-    typename BlockReturnType<Derived,Dynamic>::SubVectorType start(int size);
-    const typename BlockReturnType<Derived,Dynamic>::SubVectorType start(int size) const;
-
-    typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size);
-    const typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size) const;
-
-    typename BlockReturnType<Derived>::Type corner(CornerType type, int cRows, int cCols);
-    const typename BlockReturnType<Derived>::Type corner(CornerType type, int cRows, int cCols) const;
-
-    template<int BlockRows, int BlockCols>
-    typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol);
-    template<int BlockRows, int BlockCols>
-    const typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol) const;
-
-    template<int CRows, int CCols>
-    typename BlockReturnType<Derived, CRows, CCols>::Type corner(CornerType type);
-    template<int CRows, int CCols>
-    const typename BlockReturnType<Derived, CRows, CCols>::Type corner(CornerType type) const;
-
-    template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType start(void);
-    template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType start() const;
-
-    template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType end();
-    template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType end() const;
-
-    template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType segment(int start);
-    template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType segment(int start) const;
-
-    DiagonalCoeffs<Derived> diagonal();
-    const DiagonalCoeffs<Derived> diagonal() const;
-
-    template<unsigned int Mode> Part<Derived, Mode> part();
-    template<unsigned int Mode> const Part<Derived, Mode> part() const;
-
-
-    static const ConstantReturnType
-    Constant(int rows, int cols, const Scalar& value);
-    static const ConstantReturnType
-    Constant(int size, const Scalar& value);
-    static const ConstantReturnType
-    Constant(const Scalar& value);
-
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
-    NullaryExpr(int rows, int cols, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
-    NullaryExpr(int size, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
-    NullaryExpr(const CustomNullaryOp& func);
-
-    static const ConstantReturnType Zero(int rows, int cols);
-    static const ConstantReturnType Zero(int size);
-    static const ConstantReturnType Zero();
-    static const ConstantReturnType Ones(int rows, int cols);
-    static const ConstantReturnType Ones(int size);
-    static const ConstantReturnType Ones();
-    static const IdentityReturnType Identity();
-    static const IdentityReturnType Identity(int rows, int cols);
-    static const BasisReturnType Unit(int size, int i);
-    static const BasisReturnType Unit(int i);
-    static const BasisReturnType UnitX();
-    static const BasisReturnType UnitY();
-    static const BasisReturnType UnitZ();
-    static const BasisReturnType UnitW();
-
-    const DiagonalMatrix<Derived> asDiagonal() const;
-
-    void fill(const Scalar& value);
-    Derived& setConstant(const Scalar& value);
-    Derived& setZero();
-    Derived& setOnes();
-    Derived& setRandom();
-    Derived& setIdentity();
-
-
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other,
-                  RealScalar prec = precision<Scalar>()) const;
-    bool isMuchSmallerThan(const RealScalar& other,
-                           RealScalar prec = precision<Scalar>()) const;
-    template<typename OtherDerived>
-    bool isMuchSmallerThan(const MatrixBase<OtherDerived>& other,
-                           RealScalar prec = precision<Scalar>()) const;
-
-    bool isApproxToConstant(const Scalar& value, RealScalar prec = precision<Scalar>()) const;
-    bool isConstant(const Scalar& value, RealScalar prec = precision<Scalar>()) const;
-    bool isZero(RealScalar prec = precision<Scalar>()) const;
-    bool isOnes(RealScalar prec = precision<Scalar>()) const;
-    bool isIdentity(RealScalar prec = precision<Scalar>()) const;
-    bool isDiagonal(RealScalar prec = precision<Scalar>()) const;
-
-    bool isUpperTriangular(RealScalar prec = precision<Scalar>()) const;
-    bool isLowerTriangular(RealScalar prec = precision<Scalar>()) const;
-
-    template<typename OtherDerived>
-    bool isOrthogonal(const MatrixBase<OtherDerived>& other,
-                      RealScalar prec = precision<Scalar>()) const;
-    bool isUnitary(RealScalar prec = precision<Scalar>()) const;
-
-    template<typename OtherDerived>
-    inline bool operator==(const MatrixBase<OtherDerived>& other) const
-    { return (cwise() == other).all(); }
-
-    template<typename OtherDerived>
-    inline bool operator!=(const MatrixBase<OtherDerived>& other) const
-    { return (cwise() != other).any(); }
-
-
-    template<typename NewType>
-    const CwiseUnaryOp<ei_scalar_cast_op<typename ei_traits<Derived>::Scalar, NewType>, Derived> cast() const;
-
-    /** \returns the matrix or vector obtained by evaluating this expression.
-      *
-      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
-      * a const reference, in order to avoid a useless copy.
-      */
-    EIGEN_STRONG_INLINE const typename ei_eval<Derived>::type eval() const
-    { return typename ei_eval<Derived>::type(derived()); }
-
-    template<typename OtherDerived>
-    void swap(const MatrixBase<OtherDerived>& other);
-
-    template<unsigned int Added>
-    const Flagged<Derived, Added, 0> marked() const;
-    const Flagged<Derived, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit> lazy() const;
-
-    /** \returns number of elements to skip to pass from one row (resp. column) to another
-      * for a row-major (resp. column-major) matrix.
-      * Combined with coeffRef() and the \ref flags flags, it allows a direct access to the data
-      * of the underlying matrix.
-      */
-    inline int stride(void) const { return derived().stride(); }
-
-    inline const NestByValue<Derived> nestByValue() const;
-
-
-    ConjugateReturnType conjugate() const;
-    const RealReturnType real() const;
-    const ImagReturnType imag() const;
-
-    template<typename CustomUnaryOp>
-    const CwiseUnaryOp<CustomUnaryOp, Derived> unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const;
-
-    template<typename CustomBinaryOp, typename OtherDerived>
-    const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
-    binaryExpr(const MatrixBase<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const;
-
-
-    Scalar sum() const;
-    Scalar trace() const;
-
-    typename ei_traits<Derived>::Scalar minCoeff() const;
-    typename ei_traits<Derived>::Scalar maxCoeff() const;
-
-    typename ei_traits<Derived>::Scalar minCoeff(int* row, int* col) const;
-    typename ei_traits<Derived>::Scalar maxCoeff(int* row, int* col) const;
-
-    typename ei_traits<Derived>::Scalar minCoeff(int* index) const;
-    typename ei_traits<Derived>::Scalar maxCoeff(int* index) const;
-
-    template<typename BinaryOp>
-    typename ei_result_of<BinaryOp(typename ei_traits<Derived>::Scalar)>::type
-    redux(const BinaryOp& func) const;
-
-    template<typename Visitor>
-    void visit(Visitor& func) const;
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-    inline Derived& const_cast_derived() const
-    { return *static_cast<Derived*>(const_cast<MatrixBase*>(this)); }
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    const Cwise<Derived> cwise() const;
-    Cwise<Derived> cwise();
-
-    inline const WithFormat<Derived> format(const IOFormat& fmt) const;
-
-/////////// Array module ///////////
-
-    bool all(void) const;
-    bool any(void) const;
-    int count() const;
-
-    const PartialRedux<Derived,Horizontal> rowwise() const;
-    const PartialRedux<Derived,Vertical> colwise() const;
-
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random(int rows, int cols);
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random(int size);
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random();
-
-    template<typename ThenDerived,typename ElseDerived>
-    const Select<Derived,ThenDerived,ElseDerived>
-    select(const MatrixBase<ThenDerived>& thenMatrix,
-           const MatrixBase<ElseDerived>& elseMatrix) const;
-
-    template<typename ThenDerived>
-    inline const Select<Derived,ThenDerived, NestByValue<typename ThenDerived::ConstantReturnType> >
-    select(const MatrixBase<ThenDerived>& thenMatrix, typename ThenDerived::Scalar elseScalar) const;
-
-    template<typename ElseDerived>
-    inline const Select<Derived, NestByValue<typename ElseDerived::ConstantReturnType>, ElseDerived >
-    select(typename ElseDerived::Scalar thenScalar, const MatrixBase<ElseDerived>& elseMatrix) const;
-
-    template<int p> RealScalar lpNorm() const;
-
-/////////// LU module ///////////
-
-    const LU<PlainMatrixType> lu() const;
-    const PlainMatrixType inverse() const;
-    void computeInverse(PlainMatrixType *result) const;
-    Scalar determinant() const;
-
-/////////// Cholesky module ///////////
-
-    const LLT<PlainMatrixType>  llt() const;
-    const LDLT<PlainMatrixType> ldlt() const;
-
-/////////// QR module ///////////
-
-    const QR<PlainMatrixType> qr() const;
-
-    EigenvaluesReturnType eigenvalues() const;
-    RealScalar operatorNorm() const;
-
-/////////// SVD module ///////////
-
-    SVD<PlainMatrixType> svd() const;
-
-/////////// Geometry module ///////////
-
-    template<typename OtherDerived>
-    PlainMatrixType cross(const MatrixBase<OtherDerived>& other) const;
-    PlainMatrixType unitOrthogonal(void) const;
-    Matrix<Scalar,3,1> eulerAngles(int a0, int a1, int a2) const;
-
-/////////// Sparse module ///////////
-
-    // dense = spasre * dense
-    template<typename Derived1, typename Derived2>
-    Derived& lazyAssign(const SparseProduct<Derived1,Derived2,SparseTimeDenseProduct>& product);
-    // dense = dense * spasre
-    template<typename Derived1, typename Derived2>
-    Derived& lazyAssign(const SparseProduct<Derived1,Derived2,DenseTimeSparseProduct>& product);
-
-    #ifdef EIGEN_MATRIXBASE_PLUGIN
-    #include EIGEN_MATRIXBASE_PLUGIN
-    #endif
-};
-
-#endif // EIGEN_MATRIXBASE_H
diff --git a/extern/Eigen2/Eigen/src/Core/MatrixStorage.h b/extern/Eigen2/Eigen/src/Core/MatrixStorage.h
deleted file mode 100644
index ba2355b8e60..00000000000
--- a/extern/Eigen2/Eigen/src/Core/MatrixStorage.h
+++ /dev/null
@@ -1,249 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MATRIXSTORAGE_H
-#define EIGEN_MATRIXSTORAGE_H
-
-struct ei_constructor_without_unaligned_array_assert {};
-
-/** \internal
-  * Static array automatically aligned if the total byte size is a multiple of 16 and the matrix options require auto alignment
-  */
-template <typename T, int Size, int MatrixOptions,
-          bool Align = (MatrixOptions&AutoAlign) && (((Size*sizeof(T))&0xf)==0)
-> struct ei_matrix_array
-{
-  EIGEN_ALIGN_128 T array[Size];
-
-  ei_matrix_array()
-  {
-    #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-    ei_assert((reinterpret_cast<size_t>(array) & 0xf) == 0
-              && "this assertion is explained here: http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html  **** READ THIS WEB PAGE !!! ****");
-    #endif
-  }
-
-  ei_matrix_array(ei_constructor_without_unaligned_array_assert) {}
-};
-
-template <typename T, int Size, int MatrixOptions> struct ei_matrix_array<T,Size,MatrixOptions,false>
-{
-  T array[Size];
-  ei_matrix_array() {}
-  ei_matrix_array(ei_constructor_without_unaligned_array_assert) {}
-};
-
-/** \internal
-  *
-  * \class ei_matrix_storage
-  *
-  * \brief Stores the data of a matrix
-  *
-  * This class stores the data of fixed-size, dynamic-size or mixed matrices
-  * in a way as compact as possible.
-  *
-  * \sa Matrix
-  */
-template<typename T, int Size, int _Rows, int _Cols, int _Options> class ei_matrix_storage;
-
-// purely fixed-size matrix
-template<typename T, int Size, int _Rows, int _Cols, int _Options> class ei_matrix_storage
-{
-    ei_matrix_array<T,Size,_Options> m_data;
-  public:
-    inline explicit ei_matrix_storage() {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert)
-      : m_data(ei_constructor_without_unaligned_array_assert()) {}
-    inline ei_matrix_storage(int,int,int) {}
-    inline void swap(ei_matrix_storage& other) { std::swap(m_data,other.m_data); }
-    inline static int rows(void) {return _Rows;}
-    inline static int cols(void) {return _Cols;}
-    inline void resize(int,int,int) {}
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
-};
-
-// dynamic-size matrix with fixed-size storage
-template<typename T, int Size, int _Options> class ei_matrix_storage<T, Size, Dynamic, Dynamic, _Options>
-{
-    ei_matrix_array<T,Size,_Options> m_data;
-    int m_rows;
-    int m_cols;
-  public:
-    inline explicit ei_matrix_storage() : m_rows(0), m_cols(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert)
-      : m_data(ei_constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
-    inline ei_matrix_storage(int, int rows, int cols) : m_rows(rows), m_cols(cols) {}
-    inline ~ei_matrix_storage() {}
-    inline void swap(ei_matrix_storage& other)
-    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    inline int rows(void) const {return m_rows;}
-    inline int cols(void) const {return m_cols;}
-    inline void resize(int, int rows, int cols)
-    {
-      m_rows = rows;
-      m_cols = cols;
-    }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
-};
-
-// dynamic-size matrix with fixed-size storage and fixed width
-template<typename T, int Size, int _Cols, int _Options> class ei_matrix_storage<T, Size, Dynamic, _Cols, _Options>
-{
-    ei_matrix_array<T,Size,_Options> m_data;
-    int m_rows;
-  public:
-    inline explicit ei_matrix_storage() : m_rows(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert)
-      : m_data(ei_constructor_without_unaligned_array_assert()), m_rows(0) {}
-    inline ei_matrix_storage(int, int rows, int) : m_rows(rows) {}
-    inline ~ei_matrix_storage() {}
-    inline void swap(ei_matrix_storage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    inline int rows(void) const {return m_rows;}
-    inline int cols(void) const {return _Cols;}
-    inline void resize(int /*size*/, int rows, int)
-    {
-      m_rows = rows;
-    }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
-};
-
-// dynamic-size matrix with fixed-size storage and fixed height
-template<typename T, int Size, int _Rows, int _Options> class ei_matrix_storage<T, Size, _Rows, Dynamic, _Options>
-{
-    ei_matrix_array<T,Size,_Options> m_data;
-    int m_cols;
-  public:
-    inline explicit ei_matrix_storage() : m_cols(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert)
-      : m_data(ei_constructor_without_unaligned_array_assert()), m_cols(0) {}
-    inline ei_matrix_storage(int, int, int cols) : m_cols(cols) {}
-    inline ~ei_matrix_storage() {}
-    inline void swap(ei_matrix_storage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    inline int rows(void) const {return _Rows;}
-    inline int cols(void) const {return m_cols;}
-    inline void resize(int, int, int cols)
-    {
-      m_cols = cols;
-    }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
-};
-
-// purely dynamic matrix.
-template<typename T, int _Options> class ei_matrix_storage<T, Dynamic, Dynamic, Dynamic, _Options>
-{
-    T *m_data;
-    int m_rows;
-    int m_cols;
-  public:
-    inline explicit ei_matrix_storage() : m_data(0), m_rows(0), m_cols(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert)
-       : m_data(0), m_rows(0), m_cols(0) {}
-    inline ei_matrix_storage(int size, int rows, int cols)
-      : m_data(ei_aligned_new<T>(size)), m_rows(rows), m_cols(cols) {}
-    inline ~ei_matrix_storage() { ei_aligned_delete(m_data, m_rows*m_cols); }
-    inline void swap(ei_matrix_storage& other)
-    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    inline int rows(void) const {return m_rows;}
-    inline int cols(void) const {return m_cols;}
-    void resize(int size, int rows, int cols)
-    {
-      if(size != m_rows*m_cols)
-      {
-        ei_aligned_delete(m_data, m_rows*m_cols);
-        if (size)
-          m_data = ei_aligned_new<T>(size);
-        else
-          m_data = 0;
-      }
-      m_rows = rows;
-      m_cols = cols;
-    }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
-};
-
-// matrix with dynamic width and fixed height (so that matrix has dynamic size).
-template<typename T, int _Rows, int _Options> class ei_matrix_storage<T, Dynamic, _Rows, Dynamic, _Options>
-{
-    T *m_data;
-    int m_cols;
-  public:
-    inline explicit ei_matrix_storage() : m_data(0), m_cols(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
-    inline ei_matrix_storage(int size, int, int cols) : m_data(ei_aligned_new<T>(size)), m_cols(cols) {}
-    inline ~ei_matrix_storage() { ei_aligned_delete(m_data, _Rows*m_cols); }
-    inline void swap(ei_matrix_storage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    inline static int rows(void) {return _Rows;}
-    inline int cols(void) const {return m_cols;}
-    void resize(int size, int, int cols)
-    {
-      if(size != _Rows*m_cols)
-      {
-        ei_aligned_delete(m_data, _Rows*m_cols);
-        if (size)
-          m_data = ei_aligned_new<T>(size);
-        else
-          m_data = 0;
-      }
-      m_cols = cols;
-    }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
-};
-
-// matrix with dynamic height and fixed width (so that matrix has dynamic size).
-template<typename T, int _Cols, int _Options> class ei_matrix_storage<T, Dynamic, Dynamic, _Cols, _Options>
-{
-    T *m_data;
-    int m_rows;
-  public:
-    inline explicit ei_matrix_storage() : m_data(0), m_rows(0) {}
-    inline ei_matrix_storage(ei_constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
-    inline ei_matrix_storage(int size, int rows, int) : m_data(ei_aligned_new<T>(size)), m_rows(rows) {}
-    inline ~ei_matrix_storage() { ei_aligned_delete(m_data, _Cols*m_rows); }
-    inline void swap(ei_matrix_storage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    inline int rows(void) const {return m_rows;}
-    inline static int cols(void) {return _Cols;}
-    void resize(int size, int rows, int)
-    {
-      if(size != m_rows*_Cols)
-      {
-        ei_aligned_delete(m_data, _Cols*m_rows);
-        if (size)
-          m_data = ei_aligned_new<T>(size);
-        else
-          m_data = 0;
-      }
-      m_rows = rows;
-    }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
-};
-
-#endif // EIGEN_MATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Core/NumTraits.h b/extern/Eigen2/Eigen/src/Core/NumTraits.h
deleted file mode 100644
index b27284a78bc..00000000000
--- a/extern/Eigen2/Eigen/src/Core/NumTraits.h
+++ /dev/null
@@ -1,142 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_NUMTRAITS_H
-#define EIGEN_NUMTRAITS_H
-
-/** \class NumTraits
-  *
-  * \brief Holds some data about the various numeric (i.e. scalar) types allowed by Eigen.
-  *
-  * \param T the numeric type about which this class provides data. Recall that Eigen allows
-  *          only the following types for \a T: \c int, \c float, \c double,
-  *          \c std::complex<float>, \c std::complex<double>, and \c long \c double (especially
-  *          useful to enforce x87 arithmetics when SSE is the default).
-  *
-  * The provided data consists of:
-  * \li A typedef \a Real, giving the "real part" type of \a T. If \a T is already real,
-  *     then \a Real is just a typedef to \a T. If \a T is \c std::complex<U> then \a Real
-  *     is a typedef to \a U.
-  * \li A typedef \a FloatingPoint, giving the "floating-point type" of \a T. If \a T is
-  *     \c int, then \a FloatingPoint is a typedef to \c double. Otherwise, \a FloatingPoint
-  *     is a typedef to \a T.
-  * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
-  *     type, and to 0 otherwise.
-  * \li An enum \a HasFloatingPoint. It is equal to \c 0 if \a T is \c int,
-  *     and to \c 1 otherwise.
-  */
-template<typename T> struct NumTraits;
-
-template<> struct NumTraits<int>
-{
-  typedef int Real;
-  typedef double FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 0,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<> struct NumTraits<float>
-{
-  typedef float Real;
-  typedef float FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<> struct NumTraits<double>
-{
-  typedef double Real;
-  typedef double FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<typename _Real> struct NumTraits<std::complex<_Real> >
-{
-  typedef _Real Real;
-  typedef std::complex<_Real> FloatingPoint;
-  enum {
-    IsComplex = 1,
-    HasFloatingPoint = NumTraits<Real>::HasFloatingPoint,
-    ReadCost = 2,
-    AddCost = 2 * NumTraits<Real>::AddCost,
-    MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
-  };
-};
-
-template<> struct NumTraits<long long int>
-{
-  typedef long long int Real;
-  typedef long double FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 0,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<> struct NumTraits<long double>
-{
-  typedef long double Real;
-  typedef long double FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<> struct NumTraits<bool>
-{
-  typedef bool Real;
-  typedef float FloatingPoint;
-  enum {
-    IsComplex = 0,
-    HasFloatingPoint = 0,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-#endif // EIGEN_NUMTRAITS_H
diff --git a/extern/Eigen2/Eigen/src/Core/Part.h b/extern/Eigen2/Eigen/src/Core/Part.h
deleted file mode 100644
index 96229f43b68..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Part.h
+++ /dev/null
@@ -1,377 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_PART_H
-#define EIGEN_PART_H
-
-/** \nonstableyet
-  * \class Part
-  *
-  * \brief Expression of a triangular matrix extracted from a given matrix
-  *
-  * \param MatrixType the type of the object in which we are taking the triangular part
-  * \param Mode the kind of triangular matrix expression to construct. Can be UpperTriangular, StrictlyUpperTriangular,
-  *             UnitUpperTriangular, LowerTriangular, StrictlyLowerTriangular, UnitLowerTriangular. This is in fact a bit field; it must have either
-  *             UpperTriangularBit or LowerTriangularBit, and additionnaly it may have either ZeroDiagBit or
-  *             UnitDiagBit.
-  *
-  * This class represents an expression of the upper or lower triangular part of
-  * a square matrix, possibly with a further assumption on the diagonal. It is the return type
-  * of MatrixBase::part() and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::part()
-  */
-template<typename MatrixType, unsigned int Mode>
-struct ei_traits<Part<MatrixType, Mode> > : ei_traits<MatrixType>
-{
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    Flags = (_MatrixTypeNested::Flags & (HereditaryBits) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit))) | Mode,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
-  };
-};
-
-template<typename MatrixType, unsigned int Mode> class Part
-  : public MatrixBase<Part<MatrixType, Mode> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Part)
-
-    inline Part(const MatrixType& matrix) : m_matrix(matrix)
-    { ei_assert(ei_are_flags_consistent<Mode>::ret); }
-
-    /** \sa MatrixBase::operator+=() */
-    template<typename Other> Part&  operator+=(const Other& other);
-    /** \sa MatrixBase::operator-=() */
-    template<typename Other> Part&  operator-=(const Other& other);
-    /** \sa MatrixBase::operator*=() */
-    Part&  operator*=(const typename ei_traits<MatrixType>::Scalar& other);
-    /** \sa MatrixBase::operator/=() */
-    Part&  operator/=(const typename ei_traits<MatrixType>::Scalar& other);
-
-    /** \sa operator=(), MatrixBase::lazyAssign() */
-    template<typename Other> void lazyAssign(const Other& other);
-    /** \sa MatrixBase::operator=() */
-    template<typename Other> Part& operator=(const Other& other);
-
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-    inline int stride() const { return m_matrix.stride(); }
-
-    inline Scalar coeff(int row, int col) const
-    {
-      // SelfAdjointBit doesn't play any role here: just because a matrix is selfadjoint doesn't say anything about
-      // each individual coefficient, except for the not-very-useful-here fact that diagonal coefficients are real.
-      if( ((Flags & LowerTriangularBit) && (col>row)) || ((Flags & UpperTriangularBit) && (row>col)) )
-        return (Scalar)0;
-      if(Flags & UnitDiagBit)
-        return col==row ? (Scalar)1 : m_matrix.coeff(row, col);
-      else if(Flags & ZeroDiagBit)
-        return col==row ? (Scalar)0 : m_matrix.coeff(row, col);
-      else
-        return m_matrix.coeff(row, col);
-    }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      EIGEN_STATIC_ASSERT(!(Flags & UnitDiagBit), WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED)
-      EIGEN_STATIC_ASSERT(!(Flags & SelfAdjointBit), COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED)
-      ei_assert(   (Mode==UpperTriangular && col>=row)
-                || (Mode==LowerTriangular && col<=row)
-                || (Mode==StrictlyUpperTriangular && col>row)
-                || (Mode==StrictlyLowerTriangular && col<row));
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-
-    /** \internal */
-    const MatrixType& _expression() const { return m_matrix; }
-
-    /** discard any writes to a row */
-    const Block<Part, 1, ColsAtCompileTime> row(int i) { return Base::row(i); }
-    const Block<Part, 1, ColsAtCompileTime> row(int i) const { return Base::row(i); }
-    /** discard any writes to a column */
-    const Block<Part, RowsAtCompileTime, 1> col(int i) { return Base::col(i); }
-    const Block<Part, RowsAtCompileTime, 1> col(int i) const { return Base::col(i); }
-
-    template<typename OtherDerived>
-    void swap(const MatrixBase<OtherDerived>& other)
-    {
-      Part<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
-    }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-
-  private:
-    Part& operator=(const Part&);
-};
-
-/** \nonstableyet
-  * \returns an expression of a triangular matrix extracted from the current matrix
-  *
-  * The parameter \a Mode can have the following values: \c UpperTriangular, \c StrictlyUpperTriangular, \c UnitUpperTriangular,
-  * \c LowerTriangular, \c StrictlyLowerTriangular, \c UnitLowerTriangular.
-  *
-  * \addexample PartExample \label How to extract a triangular part of an arbitrary matrix
-  *
-  * Example: \include MatrixBase_extract.cpp
-  * Output: \verbinclude MatrixBase_extract.out
-  *
-  * \sa class Part, part(), marked()
-  */
-template<typename Derived>
-template<unsigned int Mode>
-const Part<Derived, Mode> MatrixBase<Derived>::part() const
-{
-  return derived();
-}
-
-template<typename MatrixType, unsigned int Mode>
-template<typename Other>
-inline Part<MatrixType, Mode>& Part<MatrixType, Mode>::operator=(const Other& other)
-{
-  if(Other::Flags & EvalBeforeAssigningBit)
-  {
-    typename MatrixBase<Other>::PlainMatrixType other_evaluated(other.rows(), other.cols());
-    other_evaluated.template part<Mode>().lazyAssign(other);
-    lazyAssign(other_evaluated);
-  }
-  else
-    lazyAssign(other.derived());
-  return *this;
-}
-
-template<typename Derived1, typename Derived2, unsigned int Mode, int UnrollCount>
-struct ei_part_assignment_impl
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    ei_part_assignment_impl<Derived1, Derived2, Mode, UnrollCount-1>::run(dst, src);
-
-    if(Mode == SelfAdjoint)
-    {
-      if(row == col)
-        dst.coeffRef(row, col) = ei_real(src.coeff(row, col));
-      else if(row < col)
-        dst.coeffRef(col, row) = ei_conj(dst.coeffRef(row, col) = src.coeff(row, col));
-    }
-    else
-    {
-      ei_assert(Mode == UpperTriangular || Mode == LowerTriangular || Mode == StrictlyUpperTriangular || Mode == StrictlyLowerTriangular);
-      if((Mode == UpperTriangular && row <= col)
-      || (Mode == LowerTriangular && row >= col)
-      || (Mode == StrictlyUpperTriangular && row < col)
-      || (Mode == StrictlyLowerTriangular && row > col))
-        dst.copyCoeff(row, col, src);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, unsigned int Mode>
-struct ei_part_assignment_impl<Derived1, Derived2, Mode, 1>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    if(!(Mode & ZeroDiagBit))
-      dst.copyCoeff(0, 0, src);
-  }
-};
-
-// prevent buggy user code from causing an infinite recursion
-template<typename Derived1, typename Derived2, unsigned int Mode>
-struct ei_part_assignment_impl<Derived1, Derived2, Mode, 0>
-{
-  inline static void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_part_assignment_impl<Derived1, Derived2, UpperTriangular, Dynamic>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(int j = 0; j < dst.cols(); ++j)
-      for(int i = 0; i <= j; ++i)
-        dst.copyCoeff(i, j, src);
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_part_assignment_impl<Derived1, Derived2, LowerTriangular, Dynamic>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(int j = 0; j < dst.cols(); ++j)
-      for(int i = j; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-  }
-};
-
-template<typename Derived1, typename Derived2>
-struct ei_part_assignment_impl<Derived1, Derived2, StrictlyUpperTriangular, Dynamic>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(int j = 0; j < dst.cols(); ++j)
-      for(int i = 0; i < j; ++i)
-        dst.copyCoeff(i, j, src);
-  }
-};
-template<typename Derived1, typename Derived2>
-struct ei_part_assignment_impl<Derived1, Derived2, StrictlyLowerTriangular, Dynamic>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(int j = 0; j < dst.cols(); ++j)
-      for(int i = j+1; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-  }
-};
-template<typename Derived1, typename Derived2>
-struct ei_part_assignment_impl<Derived1, Derived2, SelfAdjoint, Dynamic>
-{
-  inline static void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(int j = 0; j < dst.cols(); ++j)
-    {
-      for(int i = 0; i < j; ++i)
-        dst.coeffRef(j, i) = ei_conj(dst.coeffRef(i, j) = src.coeff(i, j));
-      dst.coeffRef(j, j) = ei_real(src.coeff(j, j));
-    }
-  }
-};
-
-template<typename MatrixType, unsigned int Mode>
-template<typename Other>
-void Part<MatrixType, Mode>::lazyAssign(const Other& other)
-{
-  const bool unroll = MatrixType::SizeAtCompileTime * Other::CoeffReadCost / 2 <= EIGEN_UNROLLING_LIMIT;
-  ei_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
-
-  ei_part_assignment_impl
-    <MatrixType, Other, Mode,
-    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic
-    >::run(m_matrix.const_cast_derived(), other.derived());
-}
-
-/** \nonstableyet
-  * \returns a lvalue pseudo-expression allowing to perform special operations on \c *this.
-  *
-  * The \a Mode parameter can have the following values: \c UpperTriangular, \c StrictlyUpperTriangular, \c LowerTriangular,
-  * \c StrictlyLowerTriangular, \c SelfAdjoint.
-  *
-  * \addexample PartExample \label How to write to a triangular part of a matrix
-  *
-  * Example: \include MatrixBase_part.cpp
-  * Output: \verbinclude MatrixBase_part.out
-  *
-  * \sa class Part, MatrixBase::extract(), MatrixBase::marked()
-  */
-template<typename Derived>
-template<unsigned int Mode>
-inline Part<Derived, Mode> MatrixBase<Derived>::part()
-{
-  return Part<Derived, Mode>(derived());
-}
-
-/** \returns true if *this is approximately equal to an upper triangular matrix,
-  *          within the precision given by \a prec.
-  *
-  * \sa isLowerTriangular(), extract(), part(), marked()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isUpperTriangular(RealScalar prec) const
-{
-  if(cols() != rows()) return false;
-  RealScalar maxAbsOnUpperTriangularPart = static_cast<RealScalar>(-1);
-  for(int j = 0; j < cols(); ++j)
-    for(int i = 0; i <= j; ++i)
-    {
-      RealScalar absValue = ei_abs(coeff(i,j));
-      if(absValue > maxAbsOnUpperTriangularPart) maxAbsOnUpperTriangularPart = absValue;
-    }
-  for(int j = 0; j < cols()-1; ++j)
-    for(int i = j+1; i < rows(); ++i)
-      if(!ei_isMuchSmallerThan(coeff(i, j), maxAbsOnUpperTriangularPart, prec)) return false;
-  return true;
-}
-
-/** \returns true if *this is approximately equal to a lower triangular matrix,
-  *          within the precision given by \a prec.
-  *
-  * \sa isUpperTriangular(), extract(), part(), marked()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isLowerTriangular(RealScalar prec) const
-{
-  if(cols() != rows()) return false;
-  RealScalar maxAbsOnLowerTriangularPart = static_cast<RealScalar>(-1);
-  for(int j = 0; j < cols(); ++j)
-    for(int i = j; i < rows(); ++i)
-    {
-      RealScalar absValue = ei_abs(coeff(i,j));
-      if(absValue > maxAbsOnLowerTriangularPart) maxAbsOnLowerTriangularPart = absValue;
-    }
-  for(int j = 1; j < cols(); ++j)
-    for(int i = 0; i < j; ++i)
-      if(!ei_isMuchSmallerThan(coeff(i, j), maxAbsOnLowerTriangularPart, prec)) return false;
-  return true;
-}
-
-template<typename MatrixType, unsigned int Mode>
-template<typename Other>
-inline Part<MatrixType, Mode>& Part<MatrixType, Mode>::operator+=(const Other& other)
-{
-  return *this = m_matrix + other;
-}
-
-template<typename MatrixType, unsigned int Mode>
-template<typename Other>
-inline Part<MatrixType, Mode>& Part<MatrixType, Mode>::operator-=(const Other& other)
-{
-  return *this = m_matrix - other;
-}
-
-template<typename MatrixType, unsigned int Mode>
-inline Part<MatrixType, Mode>& Part<MatrixType, Mode>::operator*=
-(const typename ei_traits<MatrixType>::Scalar& other)
-{
-  return *this = m_matrix * other;
-}
-
-template<typename MatrixType, unsigned int Mode>
-inline Part<MatrixType, Mode>& Part<MatrixType, Mode>::operator/=
-(const typename ei_traits<MatrixType>::Scalar& other)
-{
-  return *this = m_matrix / other;
-}
-
-#endif // EIGEN_PART_H
diff --git a/extern/Eigen2/Eigen/src/Core/Product.h b/extern/Eigen2/Eigen/src/Core/Product.h
deleted file mode 100644
index 1151b21641c..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Product.h
+++ /dev/null
@@ -1,769 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_PRODUCT_H
-#define EIGEN_PRODUCT_H
-
-/***************************
-*** Forward declarations ***
-***************************/
-
-template<int VectorizationMode, int Index, typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl;
-
-template<int StorageOrder, int Index, typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl;
-
-/** \class ProductReturnType
-  *
-  * \brief Helper class to get the correct and optimized returned type of operator*
-  *
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  * \param ProductMode the type of the product (determined automatically by ei_product_mode)
-  *
-  * This class defines the typename Type representing the optimized product expression
-  * between two matrix expressions. In practice, using ProductReturnType<Lhs,Rhs>::Type
-  * is the recommended way to define the result type of a function returning an expression
-  * which involve a matrix product. The class Product or DiagonalProduct should never be
-  * used directly.
-  *
-  * \sa class Product, class DiagonalProduct, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename Lhs, typename Rhs, int ProductMode>
-struct ProductReturnType
-{
-  typedef typename ei_nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-  typedef typename ei_nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef Product<LhsNested, RhsNested, ProductMode> Type;
-};
-
-// cache friendly specialization
-// note that there is a DiagonalProduct specialization in DiagonalProduct.h
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,CacheFriendlyProduct>
-{
-  typedef typename ei_nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-
-  typedef typename ei_nested<Rhs,Lhs::RowsAtCompileTime,
-                             typename ei_plain_matrix_type_column_major<Rhs>::type
-                   >::type RhsNested;
-
-  typedef Product<LhsNested, RhsNested, CacheFriendlyProduct> Type;
-};
-
-/*  Helper class to determine the type of the product, can be either:
- *    - NormalProduct
- *    - CacheFriendlyProduct
- *    - DiagonalProduct
- */
-template<typename Lhs, typename Rhs> struct ei_product_mode
-{
-  enum{
-
-    value = ((Rhs::Flags&Diagonal)==Diagonal) || ((Lhs::Flags&Diagonal)==Diagonal)
-          ? DiagonalProduct
-          : Lhs::MaxColsAtCompileTime == Dynamic
-            && ( Lhs::MaxRowsAtCompileTime == Dynamic
-              || Rhs::MaxColsAtCompileTime == Dynamic )
-            && (!(Rhs::IsVectorAtCompileTime && (Lhs::Flags&RowMajorBit)  && (!(Lhs::Flags&DirectAccessBit))))
-            && (!(Lhs::IsVectorAtCompileTime && (!(Rhs::Flags&RowMajorBit)) && (!(Rhs::Flags&DirectAccessBit))))
-            && (ei_is_same_type<typename Lhs::Scalar, typename Rhs::Scalar>::ret)
-          ? CacheFriendlyProduct
-          : NormalProduct };
-};
-
-/** \class Product
-  *
-  * \brief Expression of the product of two matrices
-  *
-  * \param LhsNested the type used to store the left-hand side
-  * \param RhsNested the type used to store the right-hand side
-  * \param ProductMode the type of the product
-  *
-  * This class represents an expression of the product of two matrices.
-  * It is the return type of the operator* between matrices. Its template
-  * arguments are determined automatically by ProductReturnType. Therefore,
-  * Product should never be used direclty. To determine the result type of a
-  * function which involves a matrix product, use ProductReturnType::Type.
-  *
-  * \sa ProductReturnType, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename LhsNested, typename RhsNested, int ProductMode>
-struct ei_traits<Product<LhsNested, RhsNested, ProductMode> >
-{
-  // clean the nested types:
-  typedef typename ei_cleantype<LhsNested>::type _LhsNested;
-  typedef typename ei_cleantype<RhsNested>::type _RhsNested;
-  typedef typename ei_scalar_product_traits<typename _LhsNested::Scalar, typename _RhsNested::Scalar>::ReturnType Scalar;
-
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-
-    RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-    ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-    InnerSize = EIGEN_ENUM_MIN(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-    LhsRowMajor = LhsFlags & RowMajorBit,
-    RhsRowMajor = RhsFlags & RowMajorBit,
-
-    CanVectorizeRhs = RhsRowMajor && (RhsFlags & PacketAccessBit)
-                    && (ColsAtCompileTime % ei_packet_traits<Scalar>::size == 0),
-
-    CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit)
-                    && (RowsAtCompileTime % ei_packet_traits<Scalar>::size == 0),
-
-    EvalToRowMajor = RhsRowMajor && (ProductMode==(int)CacheFriendlyProduct ? LhsRowMajor : (!CanVectorizeLhs)),
-
-    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
-
-    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeAssigningBit
-          | EvalBeforeNestingBit
-          | (CanVectorizeLhs || CanVectorizeRhs ? PacketAccessBit : 0)
-          | (LhsFlags & RhsFlags & AlignedBit),
-
-    CoeffReadCost = InnerSize == Dynamic ? Dynamic
-                  : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
-                    + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
-
-    /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
-     * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
-     * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
-     * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
-     */
-    CanVectorizeInner = LhsRowMajor && (!RhsRowMajor) && (LhsFlags & RhsFlags & ActualPacketAccessBit)
-                      && (InnerSize % ei_packet_traits<Scalar>::size == 0)
-  };
-};
-
-template<typename LhsNested, typename RhsNested, int ProductMode> class Product : ei_no_assignment_operator,
-  public MatrixBase<Product<LhsNested, RhsNested, ProductMode> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
-
-  private:
-
-    typedef typename ei_traits<Product>::_LhsNested _LhsNested;
-    typedef typename ei_traits<Product>::_RhsNested _RhsNested;
-
-    enum {
-      PacketSize = ei_packet_traits<Scalar>::size,
-      InnerSize  = ei_traits<Product>::InnerSize,
-      Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
-      CanVectorizeInner = ei_traits<Product>::CanVectorizeInner
-    };
-
-    typedef ei_product_coeff_impl<CanVectorizeInner ? InnerVectorization : NoVectorization,
-                                  Unroll ? InnerSize-1 : Dynamic,
-                                  _LhsNested, _RhsNested, Scalar> ScalarCoeffImpl;
-
-  public:
-
-    template<typename Lhs, typename Rhs>
-    inline Product(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      // we don't allow taking products of matrices of different real types, as that wouldn't be vectorizable.
-      // We still allow to mix T and complex<T>.
-      EIGEN_STATIC_ASSERT((ei_is_same_type<typename Lhs::RealScalar, typename Rhs::RealScalar>::ret),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      ei_assert(lhs.cols() == rhs.rows()
-        && "invalid matrix product"
-        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
-    }
-
-    /** \internal
-      * compute \a res += \c *this using the cache friendly product.
-      */
-    template<typename DestDerived>
-    void _cacheFriendlyEvalAndAdd(DestDerived& res) const;
-
-    /** \internal
-      * \returns whether it is worth it to use the cache friendly product.
-      */
-    EIGEN_STRONG_INLINE bool _useCacheFriendlyProduct() const
-    {
-      return  m_lhs.cols()>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-              && (  rows()>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-                 || cols()>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD);
-    }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(int row, int col) const
-    {
-      Scalar res;
-      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
-     * which is why we don't set the LinearAccessBit.
-     */
-    EIGEN_STRONG_INLINE const Scalar coeff(int index) const
-    {
-      Scalar res;
-      const int row = RowsAtCompileTime == 1 ? 0 : index;
-      const int col = RowsAtCompileTime == 1 ? index : 0;
-      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE const PacketScalar packet(int row, int col) const
-    {
-      PacketScalar res;
-      ei_product_packet_impl<Flags&RowMajorBit ? RowMajor : ColMajor,
-                                   Unroll ? InnerSize-1 : Dynamic,
-                                   _LhsNested, _RhsNested, PacketScalar, LoadMode>
-        ::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    const LhsNested m_lhs;
-    const RhsNested m_rhs;
-};
-
-/** \returns the matrix product of \c *this and \a other.
-  *
-  * \note If instead of the matrix product you want the coefficient-wise product, see Cwise::operator*().
-  *
-  * \sa lazy(), operator*=(const MatrixBase&), Cwise::operator*()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline const typename ProductReturnType<Derived,OtherDerived>::Type
-MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  enum {
-    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
-                   || OtherDerived::RowsAtCompileTime==Dynamic
-                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
-    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
-    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
-  };
-  // note to the lost user:
-  //    * for a dot product use: v1.dot(v2)
-  //    * for a coeff-wise product use: v1.cwise()*v2
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-  return typename ProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
-}
-
-/** replaces \c *this by \c *this * \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline Derived &
-MatrixBase<Derived>::operator*=(const MatrixBase<OtherDerived> &other)
-{
-  return derived() = derived() * other.derived();
-}
-
-/***************************************************************************
-* Normal product .coeff() implementation (with meta-unrolling)
-***************************************************************************/
-
-/**************************************
-*** Scalar path  - no vectorization ***
-**************************************/
-
-template<int Index, typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<NoVectorization, Index, Lhs, Rhs, RetScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    ei_product_coeff_impl<NoVectorization, Index-1, Lhs, Rhs, RetScalar>::run(row, col, lhs, rhs, res);
-    res += lhs.coeff(row, Index) * rhs.coeff(Index, col);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<NoVectorization, 0, Lhs, Rhs, RetScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<NoVectorization, Dynamic, Lhs, Rhs, RetScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, RetScalar& res)
-  {
-    ei_assert(lhs.cols()>0 && "you are using a non initialized matrix");
-    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
-      for(int i = 1; i < lhs.cols(); ++i)
-        res += lhs.coeff(row, i) * rhs.coeff(i, col);
-  }
-};
-
-// prevent buggy user code from causing an infinite recursion
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<NoVectorization, -1, Lhs, Rhs, RetScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int, int, const Lhs&, const Rhs&, RetScalar&) {}
-};
-
-/*******************************************
-*** Scalar path with inner vectorization ***
-*******************************************/
-
-template<int Index, typename Lhs, typename Rhs, typename PacketScalar>
-struct ei_product_coeff_vectorized_unroller
-{
-  enum { PacketSize = ei_packet_traits<typename Lhs::Scalar>::size };
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
-  {
-    ei_product_coeff_vectorized_unroller<Index-PacketSize, Lhs, Rhs, PacketScalar>::run(row, col, lhs, rhs, pres);
-    pres = ei_padd(pres, ei_pmul( lhs.template packet<Aligned>(row, Index) , rhs.template packet<Aligned>(Index, col) ));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename PacketScalar>
-struct ei_product_coeff_vectorized_unroller<0, Lhs, Rhs, PacketScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
-  {
-    pres = ei_pmul(lhs.template packet<Aligned>(row, 0) , rhs.template packet<Aligned>(0, col));
-  }
-};
-
-template<int Index, typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<InnerVectorization, Index, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::PacketScalar PacketScalar;
-  enum { PacketSize = ei_packet_traits<typename Lhs::Scalar>::size };
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    PacketScalar pres;
-    ei_product_coeff_vectorized_unroller<Index+1-PacketSize, Lhs, Rhs, PacketScalar>::run(row, col, lhs, rhs, pres);
-    ei_product_coeff_impl<NoVectorization,Index,Lhs,Rhs,RetScalar>::run(row, col, lhs, rhs, res);
-    res = ei_predux(pres);
-  }
-};
-
-template<typename Lhs, typename Rhs, int LhsRows = Lhs::RowsAtCompileTime, int RhsCols = Rhs::ColsAtCompileTime>
-struct ei_product_coeff_vectorized_dyn_selector
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = ei_dot_impl<
-      Block<Lhs, 1, ei_traits<Lhs>::ColsAtCompileTime>,
-      Block<Rhs, ei_traits<Rhs>::RowsAtCompileTime, 1>,
-      LinearVectorization, NoUnrolling>::run(lhs.row(row), rhs.col(col));
-  }
-};
-
-// NOTE the 3 following specializations are because taking .col(0) on a vector is a bit slower
-// NOTE maybe they are now useless since we have a specialization for Block<Matrix>
-template<typename Lhs, typename Rhs, int RhsCols>
-struct ei_product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,RhsCols>
-{
-  EIGEN_STRONG_INLINE static void run(int /*row*/, int col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = ei_dot_impl<
-      Lhs,
-      Block<Rhs, ei_traits<Rhs>::RowsAtCompileTime, 1>,
-      LinearVectorization, NoUnrolling>::run(lhs, rhs.col(col));
-  }
-};
-
-template<typename Lhs, typename Rhs, int LhsRows>
-struct ei_product_coeff_vectorized_dyn_selector<Lhs,Rhs,LhsRows,1>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = ei_dot_impl<
-      Block<Lhs, 1, ei_traits<Lhs>::ColsAtCompileTime>,
-      Rhs,
-      LinearVectorization, NoUnrolling>::run(lhs.row(row), rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs>
-struct ei_product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,1>
-{
-  EIGEN_STRONG_INLINE static void run(int /*row*/, int /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = ei_dot_impl<
-      Lhs,
-      Rhs,
-      LinearVectorization, NoUnrolling>::run(lhs, rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct ei_product_coeff_impl<InnerVectorization, Dynamic, Lhs, Rhs, RetScalar>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    ei_product_coeff_vectorized_dyn_selector<Lhs,Rhs>::run(row, col, lhs, rhs, res);
-  }
-};
-
-/*******************
-*** Packet path  ***
-*******************/
-
-template<int Index, typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<RowMajor, Index, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar &res)
-  {
-    ei_product_packet_impl<RowMajor, Index-1, Lhs, Rhs, PacketScalar, LoadMode>::run(row, col, lhs, rhs, res);
-    res =  ei_pmadd(ei_pset1(lhs.coeff(row, Index)), rhs.template packet<LoadMode>(Index, col), res);
-  }
-};
-
-template<int Index, typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<ColMajor, Index, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar &res)
-  {
-    ei_product_packet_impl<ColMajor, Index-1, Lhs, Rhs, PacketScalar, LoadMode>::run(row, col, lhs, rhs, res);
-    res =  ei_pmadd(lhs.template packet<LoadMode>(row, Index), ei_pset1(rhs.coeff(Index, col)), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<RowMajor, 0, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar &res)
-  {
-    res = ei_pmul(ei_pset1(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<ColMajor, 0, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar &res)
-  {
-    res = ei_pmul(lhs.template packet<LoadMode>(row, 0), ei_pset1(rhs.coeff(0, col)));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar& res)
-  {
-    ei_assert(lhs.cols()>0 && "you are using a non initialized matrix");
-    res = ei_pmul(ei_pset1(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
-      for(int i = 1; i < lhs.cols(); ++i)
-        res =  ei_pmadd(ei_pset1(lhs.coeff(row, i)), rhs.template packet<LoadMode>(i, col), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename PacketScalar, int LoadMode>
-struct ei_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, PacketScalar, LoadMode>
-{
-  EIGEN_STRONG_INLINE static void run(int row, int col, const Lhs& lhs, const Rhs& rhs, PacketScalar& res)
-  {
-    ei_assert(lhs.cols()>0 && "you are using a non initialized matrix");
-    res = ei_pmul(lhs.template packet<LoadMode>(row, 0), ei_pset1(rhs.coeff(0, col)));
-      for(int i = 1; i < lhs.cols(); ++i)
-        res =  ei_pmadd(lhs.template packet<LoadMode>(row, i), ei_pset1(rhs.coeff(i, col)), res);
-  }
-};
-
-/***************************************************************************
-* Cache friendly product callers and specific nested evaluation strategies
-***************************************************************************/
-
-template<typename Scalar, typename RhsType>
-static void ei_cache_friendly_product_colmajor_times_vector(
-  int size, const Scalar* lhs, int lhsStride, const RhsType& rhs, Scalar* res);
-
-template<typename Scalar, typename ResType>
-static void ei_cache_friendly_product_rowmajor_times_vector(
-  const Scalar* lhs, int lhsStride, const Scalar* rhs, int rhsSize, ResType& res);
-
-template<typename ProductType,
-  int LhsRows  = ei_traits<ProductType>::RowsAtCompileTime,
-  int LhsOrder = int(ei_traits<ProductType>::LhsFlags)&RowMajorBit ? RowMajor : ColMajor,
-  int LhsHasDirectAccess = int(ei_traits<ProductType>::LhsFlags)&DirectAccessBit? HasDirectAccess : NoDirectAccess,
-  int RhsCols  = ei_traits<ProductType>::ColsAtCompileTime,
-  int RhsOrder = int(ei_traits<ProductType>::RhsFlags)&RowMajorBit ? RowMajor : ColMajor,
-  int RhsHasDirectAccess = int(ei_traits<ProductType>::RhsFlags)&DirectAccessBit? HasDirectAccess : NoDirectAccess>
-struct ei_cache_friendly_product_selector
-{
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    product._cacheFriendlyEvalAndAdd(res);
-  }
-};
-
-// optimized colmajor * vector path
-template<typename ProductType, int LhsRows, int RhsOrder, int RhsAccess>
-struct ei_cache_friendly_product_selector<ProductType,LhsRows,ColMajor,NoDirectAccess,1,RhsOrder,RhsAccess>
-{
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    const int size = product.rhs().rows();
-    for (int k=0; k<size; ++k)
-        res += product.rhs().coeff(k) * product.lhs().col(k);
-  }
-};
-
-// optimized cache friendly colmajor * vector path for matrix with direct access flag
-// NOTE this path could also be enabled for expressions if we add runtime align queries
-template<typename ProductType, int LhsRows, int RhsOrder, int RhsAccess>
-struct ei_cache_friendly_product_selector<ProductType,LhsRows,ColMajor,HasDirectAccess,1,RhsOrder,RhsAccess>
-{
-  typedef typename ProductType::Scalar Scalar;
-
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    enum {
-      EvalToRes = (ei_packet_traits<Scalar>::size==1)
-                ||((DestDerived::Flags&ActualPacketAccessBit) && (!(DestDerived::Flags & RowMajorBit))) };
-    Scalar* EIGEN_RESTRICT _res;
-    if (EvalToRes)
-       _res = &res.coeffRef(0);
-    else
-    {
-      _res = ei_aligned_stack_new(Scalar,res.size());
-      Map<Matrix<Scalar,DestDerived::RowsAtCompileTime,1> >(_res, res.size()) = res;
-    }
-    ei_cache_friendly_product_colmajor_times_vector(res.size(),
-      &product.lhs().const_cast_derived().coeffRef(0,0), product.lhs().stride(),
-      product.rhs(), _res);
-
-    if (!EvalToRes)
-    {
-      res = Map<Matrix<Scalar,DestDerived::SizeAtCompileTime,1> >(_res, res.size());
-      ei_aligned_stack_delete(Scalar, _res, res.size());
-    }
-  }
-};
-
-// optimized vector * rowmajor path
-template<typename ProductType, int LhsOrder, int LhsAccess, int RhsCols>
-struct ei_cache_friendly_product_selector<ProductType,1,LhsOrder,LhsAccess,RhsCols,RowMajor,NoDirectAccess>
-{
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    const int cols = product.lhs().cols();
-    for (int j=0; j<cols; ++j)
-      res += product.lhs().coeff(j) * product.rhs().row(j);
-  }
-};
-
-// optimized cache friendly vector * rowmajor path for matrix with direct access flag
-// NOTE this path coul also be enabled for expressions if we add runtime align queries
-template<typename ProductType, int LhsOrder, int LhsAccess, int RhsCols>
-struct ei_cache_friendly_product_selector<ProductType,1,LhsOrder,LhsAccess,RhsCols,RowMajor,HasDirectAccess>
-{
-  typedef typename ProductType::Scalar Scalar;
-
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    enum {
-      EvalToRes = (ei_packet_traits<Scalar>::size==1)
-                ||((DestDerived::Flags & ActualPacketAccessBit) && (DestDerived::Flags & RowMajorBit)) };
-    Scalar* EIGEN_RESTRICT _res;
-    if (EvalToRes)
-       _res = &res.coeffRef(0);
-    else
-    {
-      _res = ei_aligned_stack_new(Scalar, res.size());
-      Map<Matrix<Scalar,DestDerived::SizeAtCompileTime,1> >(_res, res.size()) = res;
-    }
-    ei_cache_friendly_product_colmajor_times_vector(res.size(),
-      &product.rhs().const_cast_derived().coeffRef(0,0), product.rhs().stride(),
-      product.lhs().transpose(), _res);
-
-    if (!EvalToRes)
-    {
-      res = Map<Matrix<Scalar,DestDerived::SizeAtCompileTime,1> >(_res, res.size());
-      ei_aligned_stack_delete(Scalar, _res, res.size());
-    }
-  }
-};
-
-// optimized rowmajor - vector product
-template<typename ProductType, int LhsRows, int RhsOrder, int RhsAccess>
-struct ei_cache_friendly_product_selector<ProductType,LhsRows,RowMajor,HasDirectAccess,1,RhsOrder,RhsAccess>
-{
-  typedef typename ProductType::Scalar Scalar;
-  typedef typename ei_traits<ProductType>::_RhsNested Rhs;
-  enum {
-      UseRhsDirectly = ((ei_packet_traits<Scalar>::size==1) || (Rhs::Flags&ActualPacketAccessBit))
-                     && (!(Rhs::Flags & RowMajorBit)) };
-
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    Scalar* EIGEN_RESTRICT _rhs;
-    if (UseRhsDirectly)
-       _rhs = &product.rhs().const_cast_derived().coeffRef(0);
-    else
-    {
-      _rhs = ei_aligned_stack_new(Scalar, product.rhs().size());
-      Map<Matrix<Scalar,Rhs::SizeAtCompileTime,1> >(_rhs, product.rhs().size()) = product.rhs();
-    }
-    ei_cache_friendly_product_rowmajor_times_vector(&product.lhs().const_cast_derived().coeffRef(0,0), product.lhs().stride(),
-                                                    _rhs, product.rhs().size(), res);
-
-    if (!UseRhsDirectly) ei_aligned_stack_delete(Scalar, _rhs, product.rhs().size());
-  }
-};
-
-// optimized vector - colmajor product
-template<typename ProductType, int LhsOrder, int LhsAccess, int RhsCols>
-struct ei_cache_friendly_product_selector<ProductType,1,LhsOrder,LhsAccess,RhsCols,ColMajor,HasDirectAccess>
-{
-  typedef typename ProductType::Scalar Scalar;
-  typedef typename ei_traits<ProductType>::_LhsNested Lhs;
-  enum {
-      UseLhsDirectly = ((ei_packet_traits<Scalar>::size==1) || (Lhs::Flags&ActualPacketAccessBit))
-                     && (Lhs::Flags & RowMajorBit) };
-
-  template<typename DestDerived>
-  inline static void run(DestDerived& res, const ProductType& product)
-  {
-    Scalar* EIGEN_RESTRICT _lhs;
-    if (UseLhsDirectly)
-       _lhs = &product.lhs().const_cast_derived().coeffRef(0);
-    else
-    {
-      _lhs = ei_aligned_stack_new(Scalar, product.lhs().size());
-      Map<Matrix<Scalar,Lhs::SizeAtCompileTime,1> >(_lhs, product.lhs().size()) = product.lhs();
-    }
-    ei_cache_friendly_product_rowmajor_times_vector(&product.rhs().const_cast_derived().coeffRef(0,0), product.rhs().stride(),
-                                                    _lhs, product.lhs().size(), res);
-
-    if(!UseLhsDirectly) ei_aligned_stack_delete(Scalar, _lhs, product.lhs().size());
-  }
-};
-
-// discard this case which has to be handled by the default path
-// (we keep it to be sure to hit a compilation error if this is not the case)
-template<typename ProductType, int LhsRows, int RhsOrder, int RhsAccess>
-struct ei_cache_friendly_product_selector<ProductType,LhsRows,RowMajor,NoDirectAccess,1,RhsOrder,RhsAccess>
-{};
-
-// discard this case which has to be handled by the default path
-// (we keep it to be sure to hit a compilation error if this is not the case)
-template<typename ProductType, int LhsOrder, int LhsAccess, int RhsCols>
-struct ei_cache_friendly_product_selector<ProductType,1,LhsOrder,LhsAccess,RhsCols,ColMajor,NoDirectAccess>
-{};
-
-
-/** \internal */
-template<typename Derived>
-template<typename Lhs,typename Rhs>
-inline Derived&
-MatrixBase<Derived>::operator+=(const Flagged<Product<Lhs,Rhs,CacheFriendlyProduct>, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit>& other)
-{
-  if (other._expression()._useCacheFriendlyProduct())
-    ei_cache_friendly_product_selector<Product<Lhs,Rhs,CacheFriendlyProduct> >::run(const_cast_derived(), other._expression());
-  else
-    lazyAssign(derived() + other._expression());
-  return derived();
-}
-
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-inline Derived& MatrixBase<Derived>::lazyAssign(const Product<Lhs,Rhs,CacheFriendlyProduct>& product)
-{
-  if (product._useCacheFriendlyProduct())
-  {
-    setZero();
-    ei_cache_friendly_product_selector<Product<Lhs,Rhs,CacheFriendlyProduct> >::run(const_cast_derived(), product);
-  }
-  else
-  {
-    lazyAssign<Product<Lhs,Rhs,CacheFriendlyProduct> >(product);
-  }
-  return derived();
-}
-
-template<typename T> struct ei_product_copy_rhs
-{
-  typedef typename ei_meta_if<
-         (ei_traits<T>::Flags & RowMajorBit)
-      || (!(ei_traits<T>::Flags & DirectAccessBit)),
-      typename ei_plain_matrix_type_column_major<T>::type,
-      const T&
-    >::ret type;
-};
-
-template<typename T> struct ei_product_copy_lhs
-{
-  typedef typename ei_meta_if<
-      (!(int(ei_traits<T>::Flags) & DirectAccessBit)),
-      typename ei_plain_matrix_type<T>::type,
-      const T&
-    >::ret type;
-};
-
-template<typename Lhs, typename Rhs, int ProductMode>
-template<typename DestDerived>
-inline void Product<Lhs,Rhs,ProductMode>::_cacheFriendlyEvalAndAdd(DestDerived& res) const
-{
-  typedef typename ei_product_copy_lhs<_LhsNested>::type LhsCopy;
-  typedef typename ei_unref<LhsCopy>::type _LhsCopy;
-  typedef typename ei_product_copy_rhs<_RhsNested>::type RhsCopy;
-  typedef typename ei_unref<RhsCopy>::type _RhsCopy;
-  LhsCopy lhs(m_lhs);
-  RhsCopy rhs(m_rhs);
-  ei_cache_friendly_product<Scalar>(
-    rows(), cols(), lhs.cols(),
-    _LhsCopy::Flags&RowMajorBit, (const Scalar*)&(lhs.const_cast_derived().coeffRef(0,0)), lhs.stride(),
-    _RhsCopy::Flags&RowMajorBit, (const Scalar*)&(rhs.const_cast_derived().coeffRef(0,0)), rhs.stride(),
-    DestDerived::Flags&RowMajorBit, (Scalar*)&(res.coeffRef(0,0)), res.stride()
-  );
-}
-
-#endif // EIGEN_PRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Core/Redux.h b/extern/Eigen2/Eigen/src/Core/Redux.h
deleted file mode 100644
index 734ef1929a4..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Redux.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_REDUX_H
-#define EIGEN_REDUX_H
-
-template<typename BinaryOp, typename Derived, int Start, int Length>
-struct ei_redux_impl
-{
-  enum {
-    HalfLength = Length/2
-  };
-
-  typedef typename ei_result_of<BinaryOp(typename Derived::Scalar)>::type Scalar;
-
-  static Scalar run(const Derived &mat, const BinaryOp& func)
-  {
-    return func(
-      ei_redux_impl<BinaryOp, Derived, Start, HalfLength>::run(mat, func),
-      ei_redux_impl<BinaryOp, Derived, Start+HalfLength, Length - HalfLength>::run(mat, func));
-  }
-};
-
-template<typename BinaryOp, typename Derived, int Start>
-struct ei_redux_impl<BinaryOp, Derived, Start, 1>
-{
-  enum {
-    col = Start / Derived::RowsAtCompileTime,
-    row = Start % Derived::RowsAtCompileTime
-  };
-
-  typedef typename ei_result_of<BinaryOp(typename Derived::Scalar)>::type Scalar;
-
-  static Scalar run(const Derived &mat, const BinaryOp &)
-  {
-    return mat.coeff(row, col);
-  }
-};
-
-template<typename BinaryOp, typename Derived, int Start>
-struct ei_redux_impl<BinaryOp, Derived, Start, Dynamic>
-{
-  typedef typename ei_result_of<BinaryOp(typename Derived::Scalar)>::type Scalar;
-  static Scalar run(const Derived& mat, const BinaryOp& func)
-  {
-    ei_assert(mat.rows()>0 && mat.cols()>0 && "you are using a non initialized matrix");
-    Scalar res;
-    res = mat.coeff(0,0);
-    for(int i = 1; i < mat.rows(); ++i)
-      res = func(res, mat.coeff(i, 0));
-    for(int j = 1; j < mat.cols(); ++j)
-      for(int i = 0; i < mat.rows(); ++i)
-        res = func(res, mat.coeff(i, j));
-    return res;
-  }
-};
-
-/** \returns the result of a full redux operation on the whole matrix or vector using \a func
-  *
-  * The template parameter \a BinaryOp is the type of the functor \a func which must be
-  * an assiociative operator. Both current STL and TR1 functor styles are handled.
-  *
-  * \sa MatrixBase::sum(), MatrixBase::minCoeff(), MatrixBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
-  */
-template<typename Derived>
-template<typename BinaryOp>
-typename ei_result_of<BinaryOp(typename ei_traits<Derived>::Scalar)>::type
-MatrixBase<Derived>::redux(const BinaryOp& func) const
-{
-  const bool unroll = SizeAtCompileTime * CoeffReadCost
-                    + (SizeAtCompileTime-1) * ei_functor_traits<BinaryOp>::Cost
-                    <= EIGEN_UNROLLING_LIMIT;
-  return ei_redux_impl<BinaryOp, Derived, 0, unroll ? int(SizeAtCompileTime) : Dynamic>
-            ::run(derived(), func);
-}
-
-/** \returns the minimum of all coefficients of *this
-  */
-template<typename Derived>
-inline typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::minCoeff() const
-{
-  return this->redux(Eigen::ei_scalar_min_op<Scalar>());
-}
-
-/** \returns the maximum of all coefficients of *this
-  */
-template<typename Derived>
-inline typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::maxCoeff() const
-{
-  return this->redux(Eigen::ei_scalar_max_op<Scalar>());
-}
-
-#endif // EIGEN_REDUX_H
diff --git a/extern/Eigen2/Eigen/src/Core/SolveTriangular.h b/extern/Eigen2/Eigen/src/Core/SolveTriangular.h
deleted file mode 100644
index 12fb0e1d159..00000000000
--- a/extern/Eigen2/Eigen/src/Core/SolveTriangular.h
+++ /dev/null
@@ -1,297 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SOLVETRIANGULAR_H
-#define EIGEN_SOLVETRIANGULAR_H
-
-template<typename XprType> struct ei_is_part { enum {value=false}; };
-template<typename XprType, unsigned int Mode> struct ei_is_part<Part<XprType,Mode> > { enum {value=true}; };
-
-template<typename Lhs, typename Rhs,
-  int TriangularPart = (int(Lhs::Flags) & LowerTriangularBit)
-                     ? LowerTriangular
-                     : (int(Lhs::Flags) & UpperTriangularBit)
-                     ? UpperTriangular
-                     : -1,
-  int StorageOrder = ei_is_part<Lhs>::value ? -1  // this is to solve ambiguous specializations
-                   : int(Lhs::Flags) & (RowMajorBit|SparseBit)
-  >
-struct ei_solve_triangular_selector;
-
-// transform a Part xpr to a Flagged xpr
-template<typename Lhs, unsigned int LhsMode, typename Rhs, int UpLo, int StorageOrder>
-struct ei_solve_triangular_selector<Part<Lhs,LhsMode>,Rhs,UpLo,StorageOrder>
-{
-  static void run(const Part<Lhs,LhsMode>& lhs, Rhs& other)
-  {
-    ei_solve_triangular_selector<Flagged<Lhs,LhsMode,0>,Rhs>::run(lhs._expression(), other);
-  }
-};
-
-// forward substitution, row-major
-template<typename Lhs, typename Rhs, int UpLo>
-struct ei_solve_triangular_selector<Lhs,Rhs,UpLo,RowMajor|IsDense>
-{
-  typedef typename Rhs::Scalar Scalar;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    const bool IsLowerTriangular = (UpLo==LowerTriangular);
-    const int size = lhs.cols();
-    /* We perform the inverse product per block of 4 rows such that we perfectly match
-     * our optimized matrix * vector product. blockyStart represents the number of rows
-     * we have process first using the non-block version.
-     */
-    int blockyStart = (std::max(size-5,0)/4)*4;
-    if (IsLowerTriangular)
-      blockyStart = size - blockyStart;
-    else
-      blockyStart -= 1;
-    for(int c=0 ; c<other.cols() ; ++c)
-    {
-      // process first rows using the non block version
-      if(!(Lhs::Flags & UnitDiagBit))
-      {
-        if (IsLowerTriangular)
-          other.coeffRef(0,c) = other.coeff(0,c)/lhs.coeff(0, 0);
-        else
-          other.coeffRef(size-1,c) = other.coeff(size-1, c)/lhs.coeff(size-1, size-1);
-      }
-      for(int i=(IsLowerTriangular ? 1 : size-2); IsLowerTriangular ? i<blockyStart : i>blockyStart; i += (IsLowerTriangular ? 1 : -1) )
-      {
-        Scalar tmp = other.coeff(i,c)
-          - (IsLowerTriangular ? ((lhs.row(i).start(i)) * other.col(c).start(i)).coeff(0,0)
-                     : ((lhs.row(i).end(size-i-1)) * other.col(c).end(size-i-1)).coeff(0,0));
-        if (Lhs::Flags & UnitDiagBit)
-          other.coeffRef(i,c) = tmp;
-        else
-          other.coeffRef(i,c) = tmp/lhs.coeff(i,i);
-      }
-
-      // now let's process the remaining rows 4 at once
-      for(int i=blockyStart; IsLowerTriangular ? i<size : i>0; )
-      {
-        int startBlock = i;
-        int endBlock = startBlock + (IsLowerTriangular ? 4 : -4);
-
-        /* Process the i cols times 4 rows block, and keep the result in a temporary vector */
-        // FIXME use fixed size block but take care to small fixed size matrices...
-        Matrix<Scalar,Dynamic,1> btmp(4);
-        if (IsLowerTriangular)
-          btmp = lhs.block(startBlock,0,4,i) * other.col(c).start(i);
-        else
-          btmp = lhs.block(i-3,i+1,4,size-1-i) * other.col(c).end(size-1-i);
-
-        /* Let's process the 4x4 sub-matrix as usual.
-         * btmp stores the diagonal coefficients used to update the remaining part of the result.
-         */
-        {
-          Scalar tmp = other.coeff(startBlock,c)-btmp.coeff(IsLowerTriangular?0:3);
-          if (Lhs::Flags & UnitDiagBit)
-            other.coeffRef(i,c) = tmp;
-          else
-            other.coeffRef(i,c) = tmp/lhs.coeff(i,i);
-        }
-
-        i += IsLowerTriangular ? 1 : -1;
-        for (;IsLowerTriangular ? i<endBlock : i>endBlock; i += IsLowerTriangular ? 1 : -1)
-        {
-          int remainingSize = IsLowerTriangular ? i-startBlock : startBlock-i;
-          Scalar tmp = other.coeff(i,c)
-            - btmp.coeff(IsLowerTriangular ? remainingSize : 3-remainingSize)
-            - (   lhs.row(i).segment(IsLowerTriangular ? startBlock : i+1, remainingSize)
-              * other.col(c).segment(IsLowerTriangular ? startBlock : i+1, remainingSize)).coeff(0,0);
-
-          if (Lhs::Flags & UnitDiagBit)
-            other.coeffRef(i,c) = tmp;
-          else
-            other.coeffRef(i,c) = tmp/lhs.coeff(i,i);
-        }
-      }
-    }
-  }
-};
-
-// Implements the following configurations:
-//  - inv(LowerTriangular,         ColMajor) * Column vector
-//  - inv(LowerTriangular,UnitDiag,ColMajor) * Column vector
-//  - inv(UpperTriangular,         ColMajor) * Column vector
-//  - inv(UpperTriangular,UnitDiag,ColMajor) * Column vector
-template<typename Lhs, typename Rhs, int UpLo>
-struct ei_solve_triangular_selector<Lhs,Rhs,UpLo,ColMajor|IsDense>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type Packet;
-  enum { PacketSize =  ei_packet_traits<Scalar>::size };
-
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    static const bool IsLowerTriangular = (UpLo==LowerTriangular);
-    const int size = lhs.cols();
-    for(int c=0 ; c<other.cols() ; ++c)
-    {
-      /* let's perform the inverse product per block of 4 columns such that we perfectly match
-       * our optimized matrix * vector product. blockyEnd represents the number of rows
-       * we can process using the block version.
-       */
-      int blockyEnd = (std::max(size-5,0)/4)*4;
-      if (!IsLowerTriangular)
-        blockyEnd = size-1 - blockyEnd;
-      for(int i=IsLowerTriangular ? 0 : size-1; IsLowerTriangular ? i<blockyEnd : i>blockyEnd;)
-      {
-        /* Let's process the 4x4 sub-matrix as usual.
-         * btmp stores the diagonal coefficients used to update the remaining part of the result.
-         */
-        int startBlock = i;
-        int endBlock = startBlock + (IsLowerTriangular ? 4 : -4);
-        Matrix<Scalar,4,1> btmp;
-        for (;IsLowerTriangular ? i<endBlock : i>endBlock;
-             i += IsLowerTriangular ? 1 : -1)
-        {
-          if(!(Lhs::Flags & UnitDiagBit))
-            other.coeffRef(i,c) /= lhs.coeff(i,i);
-          int remainingSize = IsLowerTriangular ? endBlock-i-1 : i-endBlock-1;
-          if (remainingSize>0)
-            other.col(c).segment((IsLowerTriangular ? i : endBlock) + 1, remainingSize) -=
-                other.coeffRef(i,c)
-              * Block<Lhs,Dynamic,1>(lhs, (IsLowerTriangular ? i : endBlock) + 1, i, remainingSize, 1);
-          btmp.coeffRef(IsLowerTriangular ? i-startBlock : remainingSize) = -other.coeffRef(i,c);
-        }
-
-        /* Now we can efficiently update the remaining part of the result as a matrix * vector product.
-         * NOTE in order to reduce both compilation time and binary size, let's directly call
-         * the fast product implementation. It is equivalent to the following code:
-         *   other.col(c).end(size-endBlock) += (lhs.block(endBlock, startBlock, size-endBlock, endBlock-startBlock)
-         *                                       * other.col(c).block(startBlock,endBlock-startBlock)).lazy();
-         */
-        // FIXME this is cool but what about conjugate/adjoint expressions ? do we want to evaluate them ?
-        // this is a more general problem though.
-        ei_cache_friendly_product_colmajor_times_vector(
-          IsLowerTriangular ? size-endBlock : endBlock+1,
-          &(lhs.const_cast_derived().coeffRef(IsLowerTriangular ? endBlock : 0, IsLowerTriangular ? startBlock : endBlock+1)),
-          lhs.stride(),
-          btmp, &(other.coeffRef(IsLowerTriangular ? endBlock : 0, c)));
-// 				if (IsLowerTriangular)
-//           other.col(c).end(size-endBlock) += (lhs.block(endBlock, startBlock, size-endBlock, endBlock-startBlock)
-//                                           * other.col(c).block(startBlock,endBlock-startBlock)).lazy();
-// 				else
-//           other.col(c).end(size-endBlock) += (lhs.block(endBlock, startBlock, size-endBlock, endBlock-startBlock)
-//                                           * other.col(c).block(startBlock,endBlock-startBlock)).lazy();
-      }
-
-      /* Now we have to process the remaining part as usual */
-      int i;
-      for(i=blockyEnd; IsLowerTriangular ? i<size-1 : i>0; i += (IsLowerTriangular ? 1 : -1) )
-      {
-        if(!(Lhs::Flags & UnitDiagBit))
-          other.coeffRef(i,c) /= lhs.coeff(i,i);
-
-        /* NOTE we cannot use lhs.col(i).end(size-i-1) because Part::coeffRef gets called by .col() to
-         * get the address of the start of the row
-         */
-        if(IsLowerTriangular)
-          other.col(c).end(size-i-1) -= other.coeffRef(i,c) * Block<Lhs,Dynamic,1>(lhs, i+1,i, size-i-1,1);
-        else
-          other.col(c).start(i) -= other.coeffRef(i,c) * Block<Lhs,Dynamic,1>(lhs, 0,i, i, 1);
-      }
-      if(!(Lhs::Flags & UnitDiagBit))
-        other.coeffRef(i,c) /= lhs.coeff(i,i);
-    }
-  }
-};
-
-/** "in-place" version of MatrixBase::solveTriangular() where the result is written in \a other
-  *
-  * \nonstableyet
-  *
-  * The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
-  * This function will const_cast it, so constness isn't honored here.
-  *
-  * See MatrixBase:solveTriangular() for the details.
-  */
-template<typename Derived>
-template<typename OtherDerived>
-void MatrixBase<Derived>::solveTriangularInPlace(const MatrixBase<OtherDerived>& _other) const
-{
-  MatrixBase<OtherDerived>& other = _other.const_cast_derived();
-  ei_assert(derived().cols() == derived().rows());
-  ei_assert(derived().cols() == other.rows());
-  ei_assert(!(Flags & ZeroDiagBit));
-  ei_assert(Flags & (UpperTriangularBit|LowerTriangularBit));
-
-  enum { copy = ei_traits<OtherDerived>::Flags & RowMajorBit };
-
-  typedef typename ei_meta_if<copy,
-    typename ei_plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::ret OtherCopy;
-  OtherCopy otherCopy(other.derived());
-
-  ei_solve_triangular_selector<Derived, typename ei_unref<OtherCopy>::type>::run(derived(), otherCopy);
-
-  if (copy)
-    other = otherCopy;
-}
-
-/** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
-  *
-  * \nonstableyet
-  *
-  * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other.
-  * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
-  * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
-  * is an upper (resp. lower) triangular matrix.
-  *
-  * It is required that \c *this be marked as either an upper or a lower triangular matrix, which
-  * can be done by marked(), and that is automatically the case with expressions such as those returned
-  * by extract().
-  *
-  * \addexample SolveTriangular \label How to solve a triangular system (aka. how to multiply the inverse of a triangular matrix by another one)
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * This function is essentially a wrapper to the faster solveTriangularInPlace() function creating
-  * a temporary copy of \a other, calling solveTriangularInPlace() on the copy and returning it.
-  * Therefore, if \a other is not needed anymore, it is quite faster to call solveTriangularInPlace()
-  * instead of solveTriangular().
-  *
-  * For users coming from BLAS, this function (and more specifically solveTriangularInPlace()) offer
-  * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
-  *
-  * \b Tips: to perform a \em "right-inverse-multiply" you can simply transpose the operation, e.g.:
-  * \code
-  * M * T^1  <=>  T.transpose().solveTriangularInPlace(M.transpose());
-  * \endcode
-  *
-  * \sa solveTriangularInPlace(), marked(), extract()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-typename ei_plain_matrix_type_column_major<OtherDerived>::type
-MatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  typename ei_plain_matrix_type_column_major<OtherDerived>::type res(other);
-  solveTriangularInPlace(res);
-  return res;
-}
-
-#endif // EIGEN_SOLVETRIANGULAR_H
diff --git a/extern/Eigen2/Eigen/src/Core/Sum.h b/extern/Eigen2/Eigen/src/Core/Sum.h
deleted file mode 100644
index 6d7e9959fa5..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Sum.h
+++ /dev/null
@@ -1,271 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SUM_H
-#define EIGEN_SUM_H
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for vectorization and unrolling
-***************************************************************************/
-
-template<typename Derived>
-struct ei_sum_traits
-{
-private:
-  enum {
-    PacketSize = ei_packet_traits<typename Derived::Scalar>::size
-  };
-
-public:
-  enum {
-    Vectorization = (int(Derived::Flags)&ActualPacketAccessBit)
-                 && (int(Derived::Flags)&LinearAccessBit)
-                  ? LinearVectorization
-                  : NoVectorization
-  };
-
-private:
-  enum {
-    Cost = Derived::SizeAtCompileTime * Derived::CoeffReadCost
-           + (Derived::SizeAtCompileTime-1) * NumTraits<typename Derived::Scalar>::AddCost,
-    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Vectorization) == int(NoVectorization) ? 1 : int(PacketSize))
-  };
-
-public:
-  enum {
-    Unrolling = Cost <= UnrollingLimit
-              ? CompleteUnrolling
-              : NoUnrolling
-  };
-};
-
-/***************************************************************************
-* Part 2 : unrollers
-***************************************************************************/
-
-/*** no vectorization ***/
-
-template<typename Derived, int Start, int Length>
-struct ei_sum_novec_unroller
-{
-  enum {
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived::Scalar Scalar;
-
-  inline static Scalar run(const Derived &mat)
-  {
-    return ei_sum_novec_unroller<Derived, Start, HalfLength>::run(mat)
-         + ei_sum_novec_unroller<Derived, Start+HalfLength, Length-HalfLength>::run(mat);
-  }
-};
-
-template<typename Derived, int Start>
-struct ei_sum_novec_unroller<Derived, Start, 1>
-{
-  enum {
-    col = Start / Derived::RowsAtCompileTime,
-    row = Start % Derived::RowsAtCompileTime
-  };
-
-  typedef typename Derived::Scalar Scalar;
-
-  inline static Scalar run(const Derived &mat)
-  {
-    return mat.coeff(row, col);
-  }
-};
-
-/*** vectorization ***/
-  
-template<typename Derived, int Start, int Length>
-struct ei_sum_vec_unroller
-{
-  enum {
-    PacketSize = ei_packet_traits<typename Derived::Scalar>::size,
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  inline static PacketScalar run(const Derived &mat)
-  {
-    return ei_padd(
-            ei_sum_vec_unroller<Derived, Start, HalfLength>::run(mat),
-            ei_sum_vec_unroller<Derived, Start+HalfLength, Length-HalfLength>::run(mat) );
-  }
-};
-
-template<typename Derived, int Start>
-struct ei_sum_vec_unroller<Derived, Start, 1>
-{
-  enum {
-    index = Start * ei_packet_traits<typename Derived::Scalar>::size,
-    row = int(Derived::Flags)&RowMajorBit
-        ? index / int(Derived::ColsAtCompileTime)
-        : index % Derived::RowsAtCompileTime,
-    col = int(Derived::Flags)&RowMajorBit
-        ? index % int(Derived::ColsAtCompileTime)
-        : index / Derived::RowsAtCompileTime,
-    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  inline static PacketScalar run(const Derived &mat)
-  {
-    return mat.template packet<alignment>(row, col);
-  }
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Derived,
-         int Vectorization = ei_sum_traits<Derived>::Vectorization,
-         int Unrolling = ei_sum_traits<Derived>::Unrolling
->
-struct ei_sum_impl;
-
-template<typename Derived>
-struct ei_sum_impl<Derived, NoVectorization, NoUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  static Scalar run(const Derived& mat)
-  {
-    ei_assert(mat.rows()>0 && mat.cols()>0 && "you are using a non initialized matrix");
-    Scalar res;
-    res = mat.coeff(0, 0);
-    for(int i = 1; i < mat.rows(); ++i)
-      res += mat.coeff(i, 0);
-    for(int j = 1; j < mat.cols(); ++j)
-      for(int i = 0; i < mat.rows(); ++i)
-        res += mat.coeff(i, j);
-    return res;
-  }
-};
-
-template<typename Derived>
-struct ei_sum_impl<Derived, NoVectorization, CompleteUnrolling>
-  : public ei_sum_novec_unroller<Derived, 0, Derived::SizeAtCompileTime>
-{};
-
-template<typename Derived>
-struct ei_sum_impl<Derived, LinearVectorization, NoUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-
-  static Scalar run(const Derived& mat)
-  {
-    const int size = mat.size();
-    const int packetSize = ei_packet_traits<Scalar>::size;
-    const int alignedStart =  (Derived::Flags & AlignedBit)
-                           || !(Derived::Flags & DirectAccessBit)
-                           ? 0
-                           : ei_alignmentOffset(&mat.const_cast_derived().coeffRef(0), size);
-    enum {
-      alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
-                ? Aligned : Unaligned
-    };
-    const int alignedSize = ((size-alignedStart)/packetSize)*packetSize;
-    const int alignedEnd = alignedStart + alignedSize;
-    Scalar res;
-
-    if(alignedSize)
-    {
-      PacketScalar packet_res = mat.template packet<alignment>(alignedStart);
-      for(int index = alignedStart + packetSize; index < alignedEnd; index += packetSize)
-        packet_res = ei_padd(packet_res, mat.template packet<alignment>(index));
-      res = ei_predux(packet_res);
-    }
-    else // too small to vectorize anything.
-         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
-    {
-      res = Scalar(0);
-    }
-
-    for(int index = 0; index < alignedStart; ++index)
-      res += mat.coeff(index);
-
-    for(int index = alignedEnd; index < size; ++index)
-      res += mat.coeff(index);
-
-    return res;
-  }
-};
-
-template<typename Derived>
-struct ei_sum_impl<Derived, LinearVectorization, CompleteUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
-  enum {
-    PacketSize = ei_packet_traits<Scalar>::size,
-    Size = Derived::SizeAtCompileTime,
-    VectorizationSize = (Size / PacketSize) * PacketSize
-  };
-  static Scalar run(const Derived& mat)
-  {
-    Scalar res = ei_predux(ei_sum_vec_unroller<Derived, 0, Size / PacketSize>::run(mat));
-    if (VectorizationSize != Size)
-      res += ei_sum_novec_unroller<Derived, VectorizationSize, Size-VectorizationSize>::run(mat);
-    return res;
-  }
-};
-
-/***************************************************************************
-* Part 4 : implementation of MatrixBase methods
-***************************************************************************/
-
-/** \returns the sum of all coefficients of *this
-  *
-  * \sa trace()
-  */
-template<typename Derived>
-inline typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::sum() const
-{
-  return ei_sum_impl<Derived>::run(derived());
-}
-
-/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
-  *
-  * \c *this can be any matrix, not necessarily square.
-  *
-  * \sa diagonal(), sum()
-  */
-template<typename Derived>
-inline typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::trace() const
-{
-  return diagonal().sum();
-}
-
-#endif // EIGEN_SUM_H
diff --git a/extern/Eigen2/Eigen/src/Core/Transpose.h b/extern/Eigen2/Eigen/src/Core/Transpose.h
deleted file mode 100644
index 870edfe320b..00000000000
--- a/extern/Eigen2/Eigen/src/Core/Transpose.h
+++ /dev/null
@@ -1,228 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_TRANSPOSE_H
-#define EIGEN_TRANSPOSE_H
-
-/** \class Transpose
-  *
-  * \brief Expression of the transpose of a matrix
-  *
-  * \param MatrixType the type of the object of which we are taking the transpose
-  *
-  * This class represents an expression of the transpose of a matrix.
-  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
-  */
-template<typename MatrixType>
-struct ei_traits<Transpose<MatrixType> >
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsAtCompileTime = MatrixType::ColsAtCompileTime,
-    ColsAtCompileTime = MatrixType::RowsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    Flags = ((int(_MatrixTypeNested::Flags) ^ RowMajorBit)
-          & ~(LowerTriangularBit | UpperTriangularBit))
-          | (int(_MatrixTypeNested::Flags)&UpperTriangularBit ? LowerTriangularBit : 0)
-          | (int(_MatrixTypeNested::Flags)&LowerTriangularBit ? UpperTriangularBit : 0),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
-  };
-};
-
-template<typename MatrixType> class Transpose
-  : public MatrixBase<Transpose<MatrixType> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
-
-    inline Transpose(const MatrixType& matrix) : m_matrix(matrix) {}
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
-
-    inline int rows() const { return m_matrix.cols(); }
-    inline int cols() const { return m_matrix.rows(); }
-    inline int nonZeros() const { return m_matrix.nonZeros(); }
-    inline int stride(void) const { return m_matrix.stride(); }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(col, row);
-    }
-
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(col, row);
-    }
-
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix.coeff(index);
-    }
-
-    inline Scalar& coeffRef(int index)
-    {
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(int row, int col) const
-    {
-      return m_matrix.template packet<LoadMode>(col, row);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(int row, int col, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(col, row, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(int index) const
-    {
-      return m_matrix.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(int index, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-};
-
-/** \returns an expression of the transpose of *this.
-  *
-  * Example: \include MatrixBase_transpose.cpp
-  * Output: \verbinclude MatrixBase_transpose.out
-  *
-  * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
-  * \code
-  * m = m.transpose(); // bug!!! caused by aliasing effect
-  * \endcode
-  * Instead, use the transposeInPlace() method:
-  * \code
-  * m.transposeInPlace();
-  * \endcode
-  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
-  * \code
-  * m = m.transpose().eval();
-  * \endcode
-  *
-  * \sa transposeInPlace(), adjoint() */
-template<typename Derived>
-inline Transpose<Derived>
-MatrixBase<Derived>::transpose()
-{
-  return derived();
-}
-
-/** This is the const version of transpose().
-  *
-  * Make sure you read the warning for transpose() !
-  *
-  * \sa transposeInPlace(), adjoint() */
-template<typename Derived>
-inline const Transpose<Derived>
-MatrixBase<Derived>::transpose() const
-{
-  return derived();
-}
-
-/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
-  *
-  * Example: \include MatrixBase_adjoint.cpp
-  * Output: \verbinclude MatrixBase_adjoint.out
-  *
-  * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
-  * \code
-  * m = m.adjoint(); // bug!!! caused by aliasing effect
-  * \endcode
-  * Instead, do:
-  * \code
-  * m = m.adjoint().eval();
-  * \endcode
-  *
-  * \sa transpose(), conjugate(), class Transpose, class ei_scalar_conjugate_op */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::AdjointReturnType
-MatrixBase<Derived>::adjoint() const
-{
-  return conjugate().nestByValue();
-}
-
-/***************************************************************************
-* "in place" transpose implementation
-***************************************************************************/
-
-template<typename MatrixType,
-  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic>
-struct ei_inplace_transpose_selector;
-
-template<typename MatrixType>
-struct ei_inplace_transpose_selector<MatrixType,true> { // square matrix
-  static void run(MatrixType& m) {
-    m.template part<StrictlyUpperTriangular>().swap(m.transpose());
-  }
-};
-
-template<typename MatrixType>
-struct ei_inplace_transpose_selector<MatrixType,false> { // non square matrix
-  static void run(MatrixType& m) {
-    if (m.rows()==m.cols())
-      m.template part<StrictlyUpperTriangular>().swap(m.transpose());
-    else
-      m = m.transpose().eval();
-  }
-};
-
-/** This is the "in place" version of transpose: it transposes \c *this.
-  *
-  * In most cases it is probably better to simply use the transposed expression
-  * of a matrix. However, when transposing the matrix data itself is really needed,
-  * then this "in-place" version is probably the right choice because it provides
-  * the following additional features:
-  *  - less error prone: doing the same operation with .transpose() requires special care:
-  *    \code m = m.transpose().eval(); \endcode
-  *  - no temporary object is created (currently only for squared matrices)
-  *  - it allows future optimizations (cache friendliness, etc.)
-  *
-  * \note if the matrix is not square, then \c *this must be a resizable matrix.
-  *
-  * \sa transpose(), adjoint() */
-template<typename Derived>
-inline void MatrixBase<Derived>::transposeInPlace()
-{
-  ei_inplace_transpose_selector<Derived>::run(derived());
-}
-
-#endif // EIGEN_TRANSPOSE_H
diff --git a/extern/Eigen2/Eigen/src/Core/arch/AltiVec/PacketMath.h b/extern/Eigen2/Eigen/src/Core/arch/AltiVec/PacketMath.h
deleted file mode 100644
index 4de3b5e2e0b..00000000000
--- a/extern/Eigen2/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ /dev/null
@@ -1,354 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Konstantinos Margaritis <markos@codex.gr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_PACKET_MATH_ALTIVEC_H
-#define EIGEN_PACKET_MATH_ALTIVEC_H
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
-#endif
-
-typedef __vector float          v4f;
-typedef __vector int            v4i;
-typedef __vector unsigned int   v4ui;
-typedef __vector __bool int     v4bi;
-
-// We don't want to write the same code all the time, but we need to reuse the constants
-// and it doesn't really work to declare them global, so we define macros instead
-
-#define USE_CONST_v0i     const v4i   v0i   = vec_splat_s32(0)
-#define USE_CONST_v1i     const v4i   v1i   = vec_splat_s32(1)
-#define USE_CONST_v16i_   const v4i   v16i_ = vec_splat_s32(-16)
-#define USE_CONST_v0f     USE_CONST_v0i; const v4f v0f = (v4f) v0i
-#define USE_CONST_v1f     USE_CONST_v1i; const v4f v1f = vec_ctf(v1i, 0)
-#define USE_CONST_v1i_    const v4ui  v1i_  = vec_splat_u32(-1)
-#define USE_CONST_v0f_    USE_CONST_v1i_; const v4f v0f_ = (v4f) vec_sl(v1i_, v1i_)
-
-template<> struct ei_packet_traits<float>  { typedef v4f type; enum {size=4}; };
-template<> struct ei_packet_traits<int>    { typedef v4i type; enum {size=4}; };
-
-template<> struct ei_unpacket_traits<v4f>  { typedef float  type; enum {size=4}; };
-template<> struct ei_unpacket_traits<v4i>  { typedef int    type; enum {size=4}; };
-
-inline std::ostream & operator <<(std::ostream & s, const v4f & v)
-{
-  union {
-    v4f   v;
-    float n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const v4i & v)
-{
-  union {
-    v4i   v;
-    int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const v4ui & v)
-{
-  union {
-    v4ui   v;
-    unsigned int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const v4bi & v)
-{
-  union {
-    __vector __bool int v;
-    unsigned int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-template<> inline v4f  ei_padd(const v4f&   a, const v4f&   b) { return vec_add(a,b); }
-template<> inline v4i  ei_padd(const v4i&   a, const v4i&   b) { return vec_add(a,b); }
-
-template<> inline v4f  ei_psub(const v4f&   a, const v4f&   b) { return vec_sub(a,b); }
-template<> inline v4i  ei_psub(const v4i&   a, const v4i&   b) { return vec_sub(a,b); }
-
-template<> inline v4f  ei_pmul(const v4f&   a, const v4f&   b) { USE_CONST_v0f; return vec_madd(a,b, v0f); }
-template<> inline v4i  ei_pmul(const v4i&   a, const v4i&   b)
-{
-  // Detailed in: http://freevec.org/content/32bit_signed_integer_multiplication_altivec
-  //Set up constants, variables
-  v4i a1, b1, bswap, low_prod, high_prod, prod, prod_, v1sel;
-  USE_CONST_v0i;
-  USE_CONST_v1i;
-  USE_CONST_v16i_;
-
-  // Get the absolute values 
-  a1  = vec_abs(a);
-  b1  = vec_abs(b);
-
-  // Get the signs using xor
-  v4bi sgn = (v4bi) vec_cmplt(vec_xor(a, b), v0i);
-
-  // Do the multiplication for the asbolute values.
-  bswap = (v4i) vec_rl((v4ui) b1, (v4ui) v16i_ );
-  low_prod = vec_mulo((__vector short)a1, (__vector short)b1);
-  high_prod = vec_msum((__vector short)a1, (__vector short)bswap, v0i);
-  high_prod = (v4i) vec_sl((v4ui) high_prod, (v4ui) v16i_);
-  prod = vec_add( low_prod, high_prod );
-
-  // NOR the product and select only the negative elements according to the sign mask
-  prod_ = vec_nor(prod, prod);
-  prod_ = vec_sel(v0i, prod_, sgn);
-
-  // Add 1 to the result to get the negative numbers
-  v1sel = vec_sel(v0i, v1i, sgn);
-  prod_ = vec_add(prod_, v1sel);
-
-  // Merge the results back to the final vector.
-  prod = vec_sel(prod, prod_, sgn);
-
-  return prod;
-}
-
-template<> inline v4f  ei_pdiv(const v4f&   a, const v4f&   b) {
-  v4f t, y_0, y_1, res;
-  USE_CONST_v0f;
-  USE_CONST_v1f;
-
-  // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
-  y_0 = vec_re(b);
-  
-  // Do one Newton-Raphson iteration to get the needed accuracy
-  t = vec_nmsub(y_0, b, v1f);
-  y_1 = vec_madd(y_0, t, y_0);
-
-  res = vec_madd(a, y_1, v0f);
-  return res;
-}
-
-template<> inline v4f  ei_pmadd(const v4f&  a, const v4f&   b, const v4f&  c) { return vec_madd(a, b, c); }
-
-template<> inline v4f  ei_pmin(const v4f&   a, const v4f&   b) { return vec_min(a,b); }
-template<> inline v4i  ei_pmin(const v4i&   a, const v4i&   b) { return vec_min(a,b); }
-
-template<> inline v4f  ei_pmax(const v4f&   a, const v4f&   b) { return vec_max(a,b); }
-template<> inline v4i  ei_pmax(const v4i&   a, const v4i&   b) { return vec_max(a,b); }
-
-template<> inline v4f  ei_pload(const float* from) { return vec_ld(0, from); }
-template<> inline v4i  ei_pload(const int*   from) { return vec_ld(0, from); }
-
-template<> inline v4f  ei_ploadu(const float*  from)
-{
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  __vector unsigned char MSQ, LSQ;
-  __vector unsigned char mask;
-  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
-  mask = vec_lvsl(0, from);                        // create the permute mask
-  return (v4f) vec_perm(MSQ, LSQ, mask);           // align the data
-}
-
-template<> inline v4i    ei_ploadu(const int*    from)
-{
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  __vector unsigned char MSQ, LSQ;
-  __vector unsigned char mask;
-  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
-  mask = vec_lvsl(0, from);                        // create the permute mask
-  return (v4i) vec_perm(MSQ, LSQ, mask);    // align the data
-}
-
-template<> inline v4f  ei_pset1(const float&  from)
-{
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  float __attribute__(aligned(16)) af[4];
-  af[0] = from;
-  v4f vc = vec_ld(0, af);
-  vc = vec_splat(vc, 0);
-  return vc;
-}
-
-template<> inline v4i    ei_pset1(const int&    from)
-{
-  int __attribute__(aligned(16)) ai[4];
-  ai[0] = from;
-  v4i vc = vec_ld(0, ai);
-  vc = vec_splat(vc, 0);
-  return vc;
-}
-
-template<> inline void ei_pstore(float*   to, const v4f&   from) { vec_st(from, 0, to); }
-template<> inline void ei_pstore(int*     to, const v4i&   from) { vec_st(from, 0, to); }
-
-template<> inline void ei_pstoreu(float*  to, const v4f&   from)
-{
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  // Warning: not thread safe!
-  __vector unsigned char MSQ, LSQ, edges;
-  __vector unsigned char edgeAlign, align;
-
-  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
-  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
-  edges=vec_perm(LSQ,MSQ,edgeAlign);                        // extract the edges
-  align = vec_lvsr( 0, to );                                // permute map to misalign data
-  MSQ = vec_perm(edges,(__vector unsigned char)from,align);   // misalign the data (MSQ)
-  LSQ = vec_perm((__vector unsigned char)from,edges,align);   // misalign the data (LSQ)
-  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
-  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
-}
-
-template<> inline void ei_pstoreu(int*    to , const v4i&    from )
-{
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  // Warning: not thread safe!
-  __vector unsigned char MSQ, LSQ, edges;
-  __vector unsigned char edgeAlign, align;
-
-  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
-  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
-  edges=vec_perm(LSQ,MSQ,edgeAlign);                        // extract the edges
-  align = vec_lvsr( 0, to );                                // permute map to misalign data
-  MSQ = vec_perm(edges,(__vector unsigned char)from,align);   // misalign the data (MSQ)
-  LSQ = vec_perm((__vector unsigned char)from,edges,align);   // misalign the data (LSQ)
-  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
-  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
-}
-
-template<> inline float  ei_pfirst(const v4f&  a)
-{
-  float __attribute__(aligned(16)) af[4];
-  vec_st(a, 0, af);
-  return af[0];
-}
-
-template<> inline int    ei_pfirst(const v4i&  a)
-{
-  int __attribute__(aligned(16)) ai[4];
-  vec_st(a, 0, ai);
-  return ai[0];
-}
-
-inline v4f ei_preduxp(const v4f* vecs)
-{
-  v4f v[4], sum[4];
-
-  // It's easier and faster to transpose then add as columns
-  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
-  // Do the transpose, first set of moves
-  v[0] = vec_mergeh(vecs[0], vecs[2]);
-  v[1] = vec_mergel(vecs[0], vecs[2]);
-  v[2] = vec_mergeh(vecs[1], vecs[3]);
-  v[3] = vec_mergel(vecs[1], vecs[3]);
-  // Get the resulting vectors
-  sum[0] = vec_mergeh(v[0], v[2]);
-  sum[1] = vec_mergel(v[0], v[2]);
-  sum[2] = vec_mergeh(v[1], v[3]);
-  sum[3] = vec_mergel(v[1], v[3]);
-
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
-  // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
-  // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
-  return sum[0];
-}
-
-inline float ei_predux(const v4f& a)
-{
-  v4f b, sum;
-  b = (v4f)vec_sld(a, a, 8);
-  sum = vec_add(a, b);
-  b = (v4f)vec_sld(sum, sum, 4);
-  sum = vec_add(sum, b);
-  return ei_pfirst(sum);
-}
-
-inline v4i  ei_preduxp(const v4i* vecs)
-{
-  v4i v[4], sum[4];
-
-  // It's easier and faster to transpose then add as columns
-  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
-  // Do the transpose, first set of moves
-  v[0] = vec_mergeh(vecs[0], vecs[2]);
-  v[1] = vec_mergel(vecs[0], vecs[2]);
-  v[2] = vec_mergeh(vecs[1], vecs[3]);
-  v[3] = vec_mergel(vecs[1], vecs[3]);
-  // Get the resulting vectors
-  sum[0] = vec_mergeh(v[0], v[2]);
-  sum[1] = vec_mergel(v[0], v[2]);
-  sum[2] = vec_mergeh(v[1], v[3]);
-  sum[3] = vec_mergel(v[1], v[3]);
-
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
-  // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
-  // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
-  return sum[0];
-}
-
-inline int ei_predux(const v4i& a)
-{
-  USE_CONST_v0i;
-  v4i sum;
-  sum = vec_sums(a, v0i);
-  sum = vec_sld(sum, v0i, 12);
-  return ei_pfirst(sum);
-}
-
-template<int Offset>
-struct ei_palign_impl<Offset, v4f>
-{
-  inline static void run(v4f& first, const v4f& second)
-  {
-    first = vec_sld(first, second, Offset*4);
-  }
-};
-
-template<int Offset>
-struct ei_palign_impl<Offset, v4i>
-{
-  inline static void run(v4i& first, const v4i& second)
-  {
-    first = vec_sld(first, second, Offset*4);
-  }
-};
-
-#endif // EIGEN_PACKET_MATH_ALTIVEC_H
diff --git a/extern/Eigen2/Eigen/src/Core/arch/SSE/PacketMath.h b/extern/Eigen2/Eigen/src/Core/arch/SSE/PacketMath.h
deleted file mode 100644
index 9ca65b9be5b..00000000000
--- a/extern/Eigen2/Eigen/src/Core/arch/SSE/PacketMath.h
+++ /dev/null
@@ -1,321 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_PACKET_MATH_SSE_H
-#define EIGEN_PACKET_MATH_SSE_H
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 16
-#endif
-
-template<> struct ei_packet_traits<float>  { typedef __m128  type; enum {size=4}; };
-template<> struct ei_packet_traits<double> { typedef __m128d type; enum {size=2}; };
-template<> struct ei_packet_traits<int>    { typedef __m128i type; enum {size=4}; };
-
-template<> struct ei_unpacket_traits<__m128>  { typedef float  type; enum {size=4}; };
-template<> struct ei_unpacket_traits<__m128d> { typedef double type; enum {size=2}; };
-template<> struct ei_unpacket_traits<__m128i> { typedef int    type; enum {size=4}; };
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pset1<float>(const float&  from) { return _mm_set1_ps(from); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pset1<double>(const double& from) { return _mm_set1_pd(from); }
-template<> EIGEN_STRONG_INLINE __m128i ei_pset1<int>(const int&    from) { return _mm_set1_epi32(from); }
-
-template<> EIGEN_STRONG_INLINE __m128  ei_padd<__m128>(const __m128&  a, const __m128&  b) { return _mm_add_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_padd<__m128d>(const __m128d& a, const __m128d& b) { return _mm_add_pd(a,b); }
-template<> EIGEN_STRONG_INLINE __m128i ei_padd<__m128i>(const __m128i& a, const __m128i& b) { return _mm_add_epi32(a,b); }
-
-template<> EIGEN_STRONG_INLINE __m128  ei_psub<__m128>(const __m128&  a, const __m128&  b) { return _mm_sub_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_psub<__m128d>(const __m128d& a, const __m128d& b) { return _mm_sub_pd(a,b); }
-template<> EIGEN_STRONG_INLINE __m128i ei_psub<__m128i>(const __m128i& a, const __m128i& b) { return _mm_sub_epi32(a,b); }
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pmul<__m128>(const __m128&  a, const __m128&  b) { return _mm_mul_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pmul<__m128d>(const __m128d& a, const __m128d& b) { return _mm_mul_pd(a,b); }
-template<> EIGEN_STRONG_INLINE __m128i ei_pmul<__m128i>(const __m128i& a, const __m128i& b)
-{
-  return _mm_or_si128(
-    _mm_and_si128(
-      _mm_mul_epu32(a,b),
-      _mm_setr_epi32(0xffffffff,0,0xffffffff,0)),
-    _mm_slli_si128(
-      _mm_and_si128(
-        _mm_mul_epu32(_mm_srli_si128(a,4),_mm_srli_si128(b,4)),
-        _mm_setr_epi32(0xffffffff,0,0xffffffff,0)), 4));
-}
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pdiv<__m128>(const __m128&  a, const __m128&  b) { return _mm_div_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pdiv<__m128d>(const __m128d& a, const __m128d& b) { return _mm_div_pd(a,b); }
-template<> EIGEN_STRONG_INLINE __m128i ei_pdiv<__m128i>(const __m128i& /*a*/, const __m128i& /*b*/)
-{ ei_assert(false && "packet integer division are not supported by SSE");
-  __m128i dummy = ei_pset1<int>(0);
-  return dummy;
-}
-
-// for some weird raisons, it has to be overloaded for packet integer
-template<> EIGEN_STRONG_INLINE __m128i ei_pmadd(const __m128i& a, const __m128i& b, const __m128i& c) { return ei_padd(ei_pmul(a,b), c); }
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pmin<__m128>(const __m128&  a, const __m128&  b) { return _mm_min_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pmin<__m128d>(const __m128d& a, const __m128d& b) { return _mm_min_pd(a,b); }
-// FIXME this vectorized min operator is likely to be slower than the standard one
-template<> EIGEN_STRONG_INLINE __m128i ei_pmin<__m128i>(const __m128i& a, const __m128i& b)
-{
-  __m128i mask = _mm_cmplt_epi32(a,b);
-  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
-}
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pmax<__m128>(const __m128&  a, const __m128&  b) { return _mm_max_ps(a,b); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pmax<__m128d>(const __m128d& a, const __m128d& b) { return _mm_max_pd(a,b); }
-// FIXME this vectorized max operator is likely to be slower than the standard one
-template<> EIGEN_STRONG_INLINE __m128i ei_pmax<__m128i>(const __m128i& a, const __m128i& b)
-{
-  __m128i mask = _mm_cmpgt_epi32(a,b);
-  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
-}
-
-template<> EIGEN_STRONG_INLINE __m128  ei_pload<float>(const float*   from) { return _mm_load_ps(from); }
-template<> EIGEN_STRONG_INLINE __m128d ei_pload<double>(const double*  from) { return _mm_load_pd(from); }
-template<> EIGEN_STRONG_INLINE __m128i ei_pload<int>(const int* from) { return _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
-
-template<> EIGEN_STRONG_INLINE __m128  ei_ploadu<float>(const float*   from) { return _mm_loadu_ps(from); }
-// template<> EIGEN_STRONG_INLINE __m128  ei_ploadu(const float*   from) {
-//   if (size_t(from)&0xF)
-//     return _mm_loadu_ps(from);
-//   else 
-//     return _mm_loadu_ps(from);
-// }
-template<> EIGEN_STRONG_INLINE __m128d ei_ploadu<double>(const double*  from) { return _mm_loadu_pd(from); }
-template<> EIGEN_STRONG_INLINE __m128i ei_ploadu<int>(const int* from) { return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from)); }
-
-template<> EIGEN_STRONG_INLINE void ei_pstore<float>(float*  to, const __m128&  from) { _mm_store_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void ei_pstore<double>(double* to, const __m128d& from) { _mm_store_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void ei_pstore<int>(int*    to, const __m128i& from) { _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
-
-template<> EIGEN_STRONG_INLINE void ei_pstoreu<float>(float*  to, const __m128&  from) { _mm_storeu_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void ei_pstoreu<double>(double* to, const __m128d& from) { _mm_storeu_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void ei_pstoreu<int>(int*    to, const __m128i& from) { _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
-
-#ifdef _MSC_VER
-// this fix internal compilation error
-template<> EIGEN_STRONG_INLINE float  ei_pfirst<__m128>(const __m128&  a) { float x = _mm_cvtss_f32(a); return x; }
-template<> EIGEN_STRONG_INLINE double ei_pfirst<__m128d>(const __m128d& a) { double x = _mm_cvtsd_f64(a); return x; }
-template<> EIGEN_STRONG_INLINE int    ei_pfirst<__m128i>(const __m128i& a) { int x = _mm_cvtsi128_si32(a); return x; }
-#else
-template<> EIGEN_STRONG_INLINE float  ei_pfirst<__m128>(const __m128&  a) { return _mm_cvtss_f32(a); }
-template<> EIGEN_STRONG_INLINE double ei_pfirst<__m128d>(const __m128d& a) { return _mm_cvtsd_f64(a); }
-template<> EIGEN_STRONG_INLINE int    ei_pfirst<__m128i>(const __m128i& a) { return _mm_cvtsi128_si32(a); }
-#endif
-
-#ifdef __SSE3__
-// TODO implement SSE2 versions as well as integer versions
-template<> EIGEN_STRONG_INLINE __m128 ei_preduxp<__m128>(const __m128* vecs)
-{
-  return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
-}
-template<> EIGEN_STRONG_INLINE __m128d ei_preduxp<__m128d>(const __m128d* vecs)
-{
-  return _mm_hadd_pd(vecs[0], vecs[1]);
-}
-// SSSE3 version:
-// EIGEN_STRONG_INLINE __m128i ei_preduxp(const __m128i* vecs)
-// {
-//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
-// }
-
-template<> EIGEN_STRONG_INLINE float ei_predux<__m128>(const __m128& a)
-{
-  __m128 tmp0 = _mm_hadd_ps(a,a);
-  return ei_pfirst(_mm_hadd_ps(tmp0, tmp0));
-}
-
-template<> EIGEN_STRONG_INLINE double ei_predux<__m128d>(const __m128d& a) { return ei_pfirst(_mm_hadd_pd(a, a)); }
-
-// SSSE3 version:
-// EIGEN_STRONG_INLINE float ei_predux(const __m128i& a)
-// {
-//   __m128i tmp0 = _mm_hadd_epi32(a,a);
-//   return ei_pfirst(_mm_hadd_epi32(tmp0, tmp0));
-// }
-#else
-// SSE2 versions
-template<> EIGEN_STRONG_INLINE float ei_predux<__m128>(const __m128& a)
-{
-  __m128 tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
-  return ei_pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double ei_predux<__m128d>(const __m128d& a)
-{
-  return ei_pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
-}
-
-template<> EIGEN_STRONG_INLINE __m128 ei_preduxp<__m128>(const __m128* vecs)
-{
-  __m128 tmp0, tmp1, tmp2;
-  tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
-  tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
-  tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
-  tmp0 = _mm_add_ps(tmp0, tmp1);
-  tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
-  tmp1 = _mm_add_ps(tmp1, tmp2);
-  tmp2 = _mm_movehl_ps(tmp1, tmp0);
-  tmp0 = _mm_movelh_ps(tmp0, tmp1);
-  return _mm_add_ps(tmp0, tmp2);
-}
-
-template<> EIGEN_STRONG_INLINE __m128d ei_preduxp<__m128d>(const __m128d* vecs)
-{
-  return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
-}
-#endif  // SSE3
-
-template<> EIGEN_STRONG_INLINE int ei_predux<__m128i>(const __m128i& a)
-{
-  __m128i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
-  return ei_pfirst(tmp) + ei_pfirst(_mm_shuffle_epi32(tmp, 1));
-}
-
-template<> EIGEN_STRONG_INLINE __m128i ei_preduxp<__m128i>(const __m128i* vecs)
-{
-  __m128i tmp0, tmp1, tmp2;
-  tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
-  tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
-  tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
-  tmp0 = _mm_add_epi32(tmp0, tmp1);
-  tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
-  tmp1 = _mm_add_epi32(tmp1, tmp2);
-  tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
-  tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
-  return _mm_add_epi32(tmp0, tmp2);
-}
-
-#if (defined __GNUC__)
-// template <> EIGEN_STRONG_INLINE __m128 ei_pmadd(const __m128&  a, const __m128&  b, const __m128&  c)
-// {
-//   __m128 res = b;
-//   asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
-//   return res;
-// }
-// EIGEN_STRONG_INLINE __m128i _mm_alignr_epi8(const __m128i&  a, const __m128i&  b, const int i)
-// {
-//   __m128i res = a;
-//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
-//   return res;
-// }
-#endif
-
-#ifdef __SSSE3__
-// SSSE3 versions
-template<int Offset>
-struct ei_palign_impl<Offset,__m128>
-{
-  EIGEN_STRONG_INLINE static void run(__m128& first, const __m128& second)
-  {
-    if (Offset!=0)
-      first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
-  }
-};
-
-template<int Offset>
-struct ei_palign_impl<Offset,__m128i>
-{
-  EIGEN_STRONG_INLINE static void run(__m128i& first, const __m128i& second)
-  {
-    if (Offset!=0)
-      first = _mm_alignr_epi8(second,first, Offset*4);
-  }
-};
-
-template<int Offset>
-struct ei_palign_impl<Offset,__m128d>
-{
-  EIGEN_STRONG_INLINE static void run(__m128d& first, const __m128d& second)
-  {
-    if (Offset==1)
-      first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
-  }
-};
-#else
-// SSE2 versions
-template<int Offset>
-struct ei_palign_impl<Offset,__m128>
-{
-  EIGEN_STRONG_INLINE static void run(__m128& first, const __m128& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_move_ss(first,second);
-      first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
-    }
-    else if (Offset==2)
-    {
-      first = _mm_movehl_ps(first,first);
-      first = _mm_movelh_ps(first,second);
-    }
-    else if (Offset==3)
-    {
-      first = _mm_move_ss(first,second);
-      first = _mm_shuffle_ps(first,second,0x93);
-    }
-  }
-};
-
-template<int Offset>
-struct ei_palign_impl<Offset,__m128i>
-{
-  EIGEN_STRONG_INLINE static void run(__m128i& first, const __m128i& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-      first = _mm_shuffle_epi32(first,0x39);
-    }
-    else if (Offset==2)
-    {
-      first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
-      first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-    }
-    else if (Offset==3)
-    {
-      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-      first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
-    }
-  }
-};
-
-template<int Offset>
-struct ei_palign_impl<Offset,__m128d>
-{
-  EIGEN_STRONG_INLINE static void run(__m128d& first, const __m128d& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
-      first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
-    }
-  }
-};
-#endif
-
-#define ei_vec4f_swizzle1(v,p,q,r,s) \
-  (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
-
-#endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/Constants.h b/extern/Eigen2/Eigen/src/Core/util/Constants.h
deleted file mode 100644
index 296c3caa5f6..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/Constants.h
+++ /dev/null
@@ -1,254 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_CONSTANTS_H
-#define EIGEN_CONSTANTS_H
-
-/** This value means that a quantity is not known at compile-time, and that instead the value is
-  * stored in some runtime variable.
-  *
-  * Explanation for the choice of this value:
-  * - It should be positive and larger than any reasonable compile-time-fixed number of rows or columns.
-  *   This allows to simplify many compile-time conditions throughout Eigen.
-  * - It should be smaller than the sqrt of INT_MAX. Indeed, we often multiply a number of rows with a number
-  *   of columns in order to compute a number of coefficients. Even if we guard that with an "if" checking whether
-  *   the values are Dynamic, we still get a compiler warning "integer overflow". So the only way to get around
-  *   it would be a meta-selector. Doing this everywhere would reduce code readability and lenghten compilation times.
-  *   Also, disabling compiler warnings for integer overflow, sounds like a bad idea.
-  *
-  * If you wish to port Eigen to a platform where sizeof(int)==2, it is perfectly possible to set Dynamic to, say, 100.
-  */
-const int Dynamic = 10000;
-
-/** This value means +Infinity; it is currently used only as the p parameter to MatrixBase::lpNorm<int>().
-  * The value Infinity there means the L-infinity norm.
-  */
-const int Infinity = -1;
-
-/** \defgroup flags flags
-  * \ingroup Core_Module
-  *
-  * These are the possible bits which can be OR'ed to constitute the flags of a matrix or
-  * expression.
-  *
-  * It is important to note that these flags are a purely compile-time notion. They are a compile-time property of
-  * an expression type, implemented as enum's. They are not stored in memory at runtime, and they do not incur any
-  * runtime overhead.
-  *
-  * \sa MatrixBase::Flags
-  */
-
-/** \ingroup flags
-  *
-  * for a matrix, this means that the storage order is row-major.
-  * If this bit is not set, the storage order is column-major.
-  * For an expression, this determines the storage order of
-  * the matrix created by evaluation of that expression. */
-const unsigned int RowMajorBit = 0x1;
-
-/** \ingroup flags
-  *
-  * means the expression should be evaluated by the calling expression */
-const unsigned int EvalBeforeNestingBit = 0x2;
-
-/** \ingroup flags
-  *
-  * means the expression should be evaluated before any assignement */
-const unsigned int EvalBeforeAssigningBit = 0x4;
-
-/** \ingroup flags
-  *
-  * Short version: means the expression might be vectorized
-  *
-  * Long version: means that the coefficients can be handled by packets
-  * and start at a memory location whose alignment meets the requirements
-  * of the present CPU architecture for optimized packet access. In the fixed-size
-  * case, there is the additional condition that the total size of the coefficients
-  * array is a multiple of the packet size, so that it is possible to access all the
-  * coefficients by packets. In the dynamic-size case, there is no such condition
-  * on the total size, so it might not be possible to access the few last coeffs
-  * by packets.
-  *
-  * \note This bit can be set regardless of whether vectorization is actually enabled.
-  *       To check for actual vectorizability, see \a ActualPacketAccessBit.
-  */
-const unsigned int PacketAccessBit = 0x8;
-
-#ifdef EIGEN_VECTORIZE
-/** \ingroup flags
-  *
-  * If vectorization is enabled (EIGEN_VECTORIZE is defined) this constant
-  * is set to the value \a PacketAccessBit.
-  *
-  * If vectorization is not enabled (EIGEN_VECTORIZE is not defined) this constant
-  * is set to the value 0.
-  */
-const unsigned int ActualPacketAccessBit = PacketAccessBit;
-#else
-const unsigned int ActualPacketAccessBit = 0x0;
-#endif
-
-/** \ingroup flags
-  *
-  * Short version: means the expression can be seen as 1D vector.
-  *
-  * Long version: means that one can access the coefficients
-  * of this expression by coeff(int), and coeffRef(int) in the case of a lvalue expression. These
-  * index-based access methods are guaranteed
-  * to not have to do any runtime computation of a (row, col)-pair from the index, so that it
-  * is guaranteed that whenever it is available, index-based access is at least as fast as
-  * (row,col)-based access. Expressions for which that isn't possible don't have the LinearAccessBit.
-  *
-  * If both PacketAccessBit and LinearAccessBit are set, then the
-  * packets of this expression can be accessed by packet(int), and writePacket(int) in the case of a
-  * lvalue expression.
-  *
-  * Typically, all vector expressions have the LinearAccessBit, but there is one exception:
-  * Product expressions don't have it, because it would be troublesome for vectorization, even when the
-  * Product is a vector expression. Thus, vector Product expressions allow index-based coefficient access but
-  * not index-based packet access, so they don't have the LinearAccessBit.
-  */
-const unsigned int LinearAccessBit = 0x10;
-
-/** \ingroup flags
-  *
-  * Means that the underlying array of coefficients can be directly accessed. This means two things.
-  * First, references to the coefficients must be available through coeffRef(int, int). This rules out read-only
-  * expressions whose coefficients are computed on demand by coeff(int, int). Second, the memory layout of the
-  * array of coefficients must be exactly the natural one suggested by rows(), cols(), stride(), and the RowMajorBit.
-  * This rules out expressions such as DiagonalCoeffs, whose coefficients, though referencable, do not have
-  * such a regular memory layout.
-  */
-const unsigned int DirectAccessBit = 0x20;
-
-/** \ingroup flags
-  *
-  * means the first coefficient packet is guaranteed to be aligned */
-const unsigned int AlignedBit = 0x40;
-
-/** \ingroup flags
-  *
-  * means all diagonal coefficients are equal to 0 */
-const unsigned int ZeroDiagBit = 0x80;
-
-/** \ingroup flags
-  *
-  * means all diagonal coefficients are equal to 1 */
-const unsigned int UnitDiagBit = 0x100;
-
-/** \ingroup flags
-  *
-  * means the matrix is selfadjoint (M=M*). */
-const unsigned int SelfAdjointBit = 0x200;
-
-/** \ingroup flags
-  *
-  * means the strictly lower triangular part is 0 */
-const unsigned int UpperTriangularBit = 0x400;
-
-/** \ingroup flags
-  *
-  * means the strictly upper triangular part is 0 */
-const unsigned int LowerTriangularBit = 0x800;
-
-/** \ingroup flags
-  *
-  * means the expression includes sparse matrices and the sparse path has to be taken. */
-const unsigned int SparseBit = 0x1000;
-
-// list of flags that are inherited by default
-const unsigned int HereditaryBits = RowMajorBit
-                                  | EvalBeforeNestingBit
-                                  | EvalBeforeAssigningBit
-                                  | SparseBit;
-
-// Possible values for the Mode parameter of part() and of extract()
-const unsigned int UpperTriangular = UpperTriangularBit;
-const unsigned int StrictlyUpperTriangular = UpperTriangularBit | ZeroDiagBit;
-const unsigned int LowerTriangular = LowerTriangularBit;
-const unsigned int StrictlyLowerTriangular = LowerTriangularBit | ZeroDiagBit;
-const unsigned int SelfAdjoint = SelfAdjointBit;
-
-// additional possible values for the Mode parameter of extract()
-const unsigned int UnitUpperTriangular = UpperTriangularBit | UnitDiagBit;
-const unsigned int UnitLowerTriangular = LowerTriangularBit | UnitDiagBit;
-const unsigned int Diagonal = UpperTriangular | LowerTriangular;
-
-enum { Aligned, Unaligned };
-enum { ForceAligned, AsRequested };
-enum { ConditionalJumpCost = 5 };
-enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
-enum DirectionType { Vertical, Horizontal };
-enum ProductEvaluationMode { NormalProduct, CacheFriendlyProduct, DiagonalProduct, SparseTimeSparseProduct, SparseTimeDenseProduct, DenseTimeSparseProduct };
-
-enum {
-  /** \internal Equivalent to a slice vectorization for fixed-size matrices having good alignment
-    * and good size */
-  InnerVectorization,
-  /** \internal Vectorization path using a single loop plus scalar loops for the
-    * unaligned boundaries */
-  LinearVectorization,
-  /** \internal Generic vectorization path using one vectorized loop per row/column with some
-    * scalar loops to handle the unaligned boundaries */
-  SliceVectorization,
-  NoVectorization
-};
-
-enum {
-  NoUnrolling,
-  InnerUnrolling,
-  CompleteUnrolling
-};
-
-enum {
-  ColMajor = 0,
-  RowMajor = 0x1,  // it is only a coincidence that this is equal to RowMajorBit -- don't rely on that
-  /** \internal Don't require alignment for the matrix itself (the array of coefficients, if dynamically allocated, may still be
-                requested to be aligned) */
-  DontAlign = 0,
-  /** \internal Align the matrix itself if it is vectorizable fixed-size */
-  AutoAlign = 0x2
-};
-
-enum {
-  IsDense         = 0,
-  IsSparse        = SparseBit,
-  NoDirectAccess  = 0,
-  HasDirectAccess = DirectAccessBit
-};
-
-const int EiArch_Generic = 0x0;
-const int EiArch_SSE     = 0x1;
-const int EiArch_AltiVec = 0x2;
-
-#if defined EIGEN_VECTORIZE_SSE
-  const int EiArch = EiArch_SSE;
-#elif defined EIGEN_VECTORIZE_ALTIVEC
-  const int EiArch = EiArch_AltiVec;
-#else
-  const int EiArch = EiArch_Generic;
-#endif
-
-#endif // EIGEN_CONSTANTS_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/DisableMSVCWarnings.h b/extern/Eigen2/Eigen/src/Core/util/DisableMSVCWarnings.h
deleted file mode 100644
index 765ddecc53c..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/DisableMSVCWarnings.h
+++ /dev/null
@@ -1,5 +0,0 @@
-
-#ifdef _MSC_VER
-  #pragma warning( push )
-  #pragma warning( disable : 4181 4244 4127 4211 4717 )
-#endif
diff --git a/extern/Eigen2/Eigen/src/Core/util/EnableMSVCWarnings.h b/extern/Eigen2/Eigen/src/Core/util/EnableMSVCWarnings.h
deleted file mode 100644
index 8bd61601ebb..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/EnableMSVCWarnings.h
+++ /dev/null
@@ -1,4 +0,0 @@
-
-#ifdef _MSC_VER
-  #pragma warning( pop )
-#endif
diff --git a/extern/Eigen2/Eigen/src/Core/util/ForwardDeclarations.h b/extern/Eigen2/Eigen/src/Core/util/ForwardDeclarations.h
deleted file mode 100644
index a72a40b1bfc..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/ForwardDeclarations.h
+++ /dev/null
@@ -1,125 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_FORWARDDECLARATIONS_H
-#define EIGEN_FORWARDDECLARATIONS_H
-
-template<typename T> struct ei_traits;
-template<typename T> struct NumTraits;
-
-template<typename _Scalar, int _Rows, int _Cols,
-         int _Options = EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION | AutoAlign,
-         int _MaxRows = _Rows, int _MaxCols = _Cols> class Matrix;
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged;
-template<typename ExpressionType> class NestByValue;
-template<typename ExpressionType> class SwapWrapper;
-template<typename MatrixType> class Minor;
-template<typename MatrixType, int BlockRows=Dynamic, int BlockCols=Dynamic, int PacketAccess=AsRequested,
-         int _DirectAccessStatus = ei_traits<MatrixType>::Flags&DirectAccessBit ? DirectAccessBit
-                                 : ei_traits<MatrixType>::Flags&SparseBit> class Block;
-template<typename MatrixType> class Transpose;
-template<typename MatrixType> class Conjugate;
-template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
-template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
-template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
-template<typename Lhs, typename Rhs, int ProductMode> class Product;
-template<typename CoeffsVectorType> class DiagonalMatrix;
-template<typename MatrixType> class DiagonalCoeffs;
-template<typename MatrixType, int PacketAccess = AsRequested> class Map;
-template<typename MatrixType, unsigned int Mode> class Part;
-template<typename MatrixType, unsigned int Mode> class Extract;
-template<typename ExpressionType> class Cwise;
-template<typename ExpressionType> class WithFormat;
-template<typename MatrixType> struct CommaInitializer;
-
-
-template<typename Lhs, typename Rhs> struct ei_product_mode;
-template<typename Lhs, typename Rhs, int ProductMode = ei_product_mode<Lhs,Rhs>::value> struct ProductReturnType;
-
-template<typename Scalar> struct ei_scalar_sum_op;
-template<typename Scalar> struct ei_scalar_difference_op;
-template<typename Scalar> struct ei_scalar_product_op;
-template<typename Scalar> struct ei_scalar_quotient_op;
-template<typename Scalar> struct ei_scalar_opposite_op;
-template<typename Scalar> struct ei_scalar_conjugate_op;
-template<typename Scalar> struct ei_scalar_real_op;
-template<typename Scalar> struct ei_scalar_imag_op;
-template<typename Scalar> struct ei_scalar_abs_op;
-template<typename Scalar> struct ei_scalar_abs2_op;
-template<typename Scalar> struct ei_scalar_sqrt_op;
-template<typename Scalar> struct ei_scalar_exp_op;
-template<typename Scalar> struct ei_scalar_log_op;
-template<typename Scalar> struct ei_scalar_cos_op;
-template<typename Scalar> struct ei_scalar_sin_op;
-template<typename Scalar> struct ei_scalar_pow_op;
-template<typename Scalar> struct ei_scalar_inverse_op;
-template<typename Scalar> struct ei_scalar_square_op;
-template<typename Scalar> struct ei_scalar_cube_op;
-template<typename Scalar, typename NewType> struct ei_scalar_cast_op;
-template<typename Scalar> struct ei_scalar_multiple_op;
-template<typename Scalar> struct ei_scalar_quotient1_op;
-template<typename Scalar> struct ei_scalar_min_op;
-template<typename Scalar> struct ei_scalar_max_op;
-template<typename Scalar> struct ei_scalar_random_op;
-template<typename Scalar> struct ei_scalar_add_op;
-template<typename Scalar> struct ei_scalar_constant_op;
-template<typename Scalar> struct ei_scalar_identity_op;
-
-struct IOFormat;
-
-template<typename Scalar>
-void ei_cache_friendly_product(
-  int _rows, int _cols, int depth,
-  bool _lhsRowMajor, const Scalar* _lhs, int _lhsStride,
-  bool _rhsRowMajor, const Scalar* _rhs, int _rhsStride,
-  bool resRowMajor, Scalar* res, int resStride);
-
-// Array module
-template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType> class Select;
-template<typename MatrixType, typename BinaryOp, int Direction> class PartialReduxExpr;
-template<typename ExpressionType, int Direction> class PartialRedux;
-
-template<typename MatrixType> class LU;
-template<typename MatrixType> class QR;
-template<typename MatrixType> class SVD;
-template<typename MatrixType> class LLT;
-template<typename MatrixType> class LDLT;
-
-// Geometry module:
-template<typename Derived, int _Dim> class RotationBase;
-template<typename Lhs, typename Rhs> class Cross;
-template<typename Scalar> class Quaternion;
-template<typename Scalar> class Rotation2D;
-template<typename Scalar> class AngleAxis;
-template<typename Scalar,int Dim> class Transform;
-template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
-template <typename _Scalar, int _AmbientDim> class Hyperplane;
-template<typename Scalar,int Dim> class Translation;
-template<typename Scalar,int Dim> class Scaling;
-
-// Sparse module:
-template<typename Lhs, typename Rhs, int ProductMode> class SparseProduct;
-
-#endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/Macros.h b/extern/Eigen2/Eigen/src/Core/util/Macros.h
deleted file mode 100644
index 89b20312a52..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/Macros.h
+++ /dev/null
@@ -1,273 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MACROS_H
-#define EIGEN_MACROS_H
-
-#undef minor
-
-#define EIGEN_WORLD_VERSION 2
-#define EIGEN_MAJOR_VERSION 0
-#define EIGEN_MINOR_VERSION 6
-
-#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
-                                      (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
-                                                                 EIGEN_MINOR_VERSION>=z))))
-
-// 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable 16 byte alignment on all
-// platforms where vectorization might be enabled. In theory we could always enable alignment, but it can be a cause of problems
-// on some platforms, so we just disable it in certain common platform (compiler+architecture combinations) to avoid these problems.
-#if defined(__GNUC__) && !(defined(__i386__) || defined(__x86_64__) || defined(__powerpc__) || defined(__ia64__) || defined(__ppc__))
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_ALIGNMENT 1
-#else
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_ALIGNMENT 0
-#endif
-
-#if defined(__GNUC__) && (__GNUC__ <= 3)
-#define EIGEN_GCC3_OR_OLDER 1
-#else
-#define EIGEN_GCC3_OR_OLDER 0
-#endif
-
-// FIXME vectorization + alignment is completely disabled with sun studio
-#if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_ALIGNMENT && !EIGEN_GCC3_OR_OLDER && !defined(__SUNPRO_CC)
-  #define EIGEN_ARCH_WANTS_ALIGNMENT 1
-#else
-  #define EIGEN_ARCH_WANTS_ALIGNMENT 0
-#endif
-
-// EIGEN_ALIGN is the true test whether we want to align or not. It takes into account both the user choice to explicitly disable
-// alignment (EIGEN_DONT_ALIGN) and the architecture config (EIGEN_ARCH_WANTS_ALIGNMENT). Henceforth, only EIGEN_ALIGN should be used.
-#if EIGEN_ARCH_WANTS_ALIGNMENT && !defined(EIGEN_DONT_ALIGN)
-  #define EIGEN_ALIGN 1
-#else
-  #define EIGEN_ALIGN 0
-  #ifdef EIGEN_VECTORIZE
-    #error "Vectorization enabled, but our platform checks say that we don't do 16 byte alignment on this platform. If you added vectorization for another architecture, you also need to edit this platform check."
-  #endif
-  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-  #endif
-#endif
-
-#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
-#else
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ColMajor
-#endif
-
-/** \internal  Defines the maximal loop size to enable meta unrolling of loops.
-  *            Note that the value here is expressed in Eigen's own notion of "number of FLOPS",
-  *            it does not correspond to the number of iterations or the number of instructions
-  */
-#ifndef EIGEN_UNROLLING_LIMIT
-#define EIGEN_UNROLLING_LIMIT 100
-#endif
-
-/** \internal Define the maximal size in Bytes of blocks fitting in CPU cache.
-  * The current value is set to generate blocks of 256x256 for float
-  *
-  * Typically for a single-threaded application you would set that to 25% of the size of your CPU caches in bytes
-  */
-#ifndef EIGEN_TUNE_FOR_CPU_CACHE_SIZE
-#define EIGEN_TUNE_FOR_CPU_CACHE_SIZE (sizeof(float)*256*256)
-#endif
-
-// FIXME this should go away quickly
-#ifdef EIGEN_TUNE_FOR_L2_CACHE_SIZE
-#error EIGEN_TUNE_FOR_L2_CACHE_SIZE is now called EIGEN_TUNE_FOR_CPU_CACHE_SIZE.
-#endif
-
-#define USING_PART_OF_NAMESPACE_EIGEN \
-EIGEN_USING_MATRIX_TYPEDEFS \
-using Eigen::Matrix; \
-using Eigen::MatrixBase; \
-using Eigen::ei_random; \
-using Eigen::ei_real; \
-using Eigen::ei_imag; \
-using Eigen::ei_conj; \
-using Eigen::ei_abs; \
-using Eigen::ei_abs2; \
-using Eigen::ei_sqrt; \
-using Eigen::ei_exp; \
-using Eigen::ei_log; \
-using Eigen::ei_sin; \
-using Eigen::ei_cos;
-
-#ifdef NDEBUG
-# ifndef EIGEN_NO_DEBUG
-#  define EIGEN_NO_DEBUG
-# endif
-#endif
-
-#ifndef ei_assert
-#ifdef EIGEN_NO_DEBUG
-#define ei_assert(x)
-#else
-#define ei_assert(x) assert(x)
-#endif
-#endif
-
-#ifdef EIGEN_INTERNAL_DEBUGGING
-#define ei_internal_assert(x) ei_assert(x)
-#else
-#define ei_internal_assert(x)
-#endif
-
-#ifdef EIGEN_NO_DEBUG
-#define EIGEN_ONLY_USED_FOR_DEBUG(x) (void)x
-#else
-#define EIGEN_ONLY_USED_FOR_DEBUG(x)
-#endif
-
-// EIGEN_ALWAYS_INLINE_ATTRIB should be use in the declaration of function
-// which should be inlined even in debug mode.
-// FIXME with the always_inline attribute,
-// gcc 3.4.x reports the following compilation error:
-//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
-//    : function body not available
-#if EIGEN_GNUC_AT_LEAST(4,0)
-#define EIGEN_ALWAYS_INLINE_ATTRIB __attribute__((always_inline))
-#else
-#define EIGEN_ALWAYS_INLINE_ATTRIB
-#endif
-
-// EIGEN_FORCE_INLINE means "inline as much as possible"
-#if (defined _MSC_VER)
-#define EIGEN_STRONG_INLINE __forceinline
-#else
-#define EIGEN_STRONG_INLINE inline
-#endif
-
-#if (defined __GNUC__)
-#define EIGEN_DONT_INLINE __attribute__((noinline))
-#elif (defined _MSC_VER)
-#define EIGEN_DONT_INLINE __declspec(noinline)
-#else
-#define EIGEN_DONT_INLINE
-#endif
-
-#if (defined __GNUC__)
-#define EIGEN_DEPRECATED __attribute__((deprecated))
-#elif (defined _MSC_VER)
-#define EIGEN_DEPRECATED __declspec(deprecated)
-#else
-#define EIGEN_DEPRECATED
-#endif
-
-/* EIGEN_ALIGN_128 forces data to be 16-byte aligned, EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
- * so that vectorization doesn't affect binary compatibility.
- *
- * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
- * vectorized and non-vectorized code.
- */
-#if !EIGEN_ALIGN
-#define EIGEN_ALIGN_128
-#elif (defined __GNUC__)
-#define EIGEN_ALIGN_128 __attribute__((aligned(16)))
-#elif (defined _MSC_VER)
-#define EIGEN_ALIGN_128 __declspec(align(16))
-#else
-#error Please tell me what is the equivalent of __attribute__((aligned(16))) for your compiler
-#endif
-
-#ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
-  #define EIGEN_RESTRICT
-#endif
-#ifndef EIGEN_RESTRICT
-  #define EIGEN_RESTRICT __restrict
-#endif
-
-#ifndef EIGEN_STACK_ALLOCATION_LIMIT
-#define EIGEN_STACK_ALLOCATION_LIMIT 1000000
-#endif
-
-#ifndef EIGEN_DEFAULT_IO_FORMAT
-#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat()
-#endif
-
-// format used in Eigen's documentation
-// needed to define it here as escaping characters in CMake add_definition's argument seems very problematic.
-#define EIGEN_DOCS_IO_FORMAT IOFormat(3, AlignCols, " ", "\n", "", "")
-
-#define EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename OtherDerived> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::MatrixBase<OtherDerived>& other) \
-{ \
-  return Base::operator Op(other.derived()); \
-} \
-EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
-{ \
-  return Base::operator Op(other); \
-}
-
-#define EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename Other> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
-{ \
-  return Base::operator Op(scalar); \
-}
-
-#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
-
-#define _EIGEN_GENERIC_PUBLIC_INTERFACE(Derived, BaseClass) \
-typedef BaseClass Base; \
-typedef typename Eigen::ei_traits<Derived>::Scalar Scalar; \
-typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-typedef typename Base::PacketScalar PacketScalar; \
-typedef typename Eigen::ei_nested<Derived>::type Nested; \
-enum { RowsAtCompileTime = Eigen::ei_traits<Derived>::RowsAtCompileTime, \
-       ColsAtCompileTime = Eigen::ei_traits<Derived>::ColsAtCompileTime, \
-       MaxRowsAtCompileTime = Eigen::ei_traits<Derived>::MaxRowsAtCompileTime, \
-       MaxColsAtCompileTime = Eigen::ei_traits<Derived>::MaxColsAtCompileTime, \
-       Flags = Eigen::ei_traits<Derived>::Flags, \
-       CoeffReadCost = Eigen::ei_traits<Derived>::CoeffReadCost, \
-       SizeAtCompileTime = Base::SizeAtCompileTime, \
-       MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
-       IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
-
-#define EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
-_EIGEN_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::MatrixBase<Derived>)
-
-#define EIGEN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
-#define EIGEN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
-
-// just an empty macro !
-#define EIGEN_EMPTY
-
-// concatenate two tokens
-#define EIGEN_CAT2(a,b) a ## b
-#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
-
-// convert a token to a string
-#define EIGEN_MAKESTRING2(a) #a
-#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
-
-#endif // EIGEN_MACROS_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/Memory.h b/extern/Eigen2/Eigen/src/Core/util/Memory.h
deleted file mode 100644
index 0a43e7f7bf2..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/Memory.h
+++ /dev/null
@@ -1,387 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_MEMORY_H
-#define EIGEN_MEMORY_H
-
-// FreeBSD 6 seems to have 16-byte aligned malloc
-// See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
-// FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
-// See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
-#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
-#define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
-#else
-#define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
-#endif
-
-#if defined(__APPLE__) || defined(_WIN64) || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
-  #define EIGEN_MALLOC_ALREADY_ALIGNED 1
-#else
-  #define EIGEN_MALLOC_ALREADY_ALIGNED 0
-#endif
-
-#if ((defined _GNU_SOURCE) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
-  #define EIGEN_HAS_POSIX_MEMALIGN 1
-#else
-  #define EIGEN_HAS_POSIX_MEMALIGN 0
-#endif
-
-#ifdef EIGEN_VECTORIZE_SSE
-  #define EIGEN_HAS_MM_MALLOC 1
-#else
-  #define EIGEN_HAS_MM_MALLOC 0
-#endif
-
-/** \internal like malloc, but the returned pointer is guaranteed to be 16-byte aligned.
-  * Fast, but wastes 16 additional bytes of memory.
-  * Does not throw any exception.
-  */
-inline void* ei_handmade_aligned_malloc(size_t size)
-{
-  void *original = malloc(size+16);
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<size_t>(original) & ~(size_t(15))) + 16);
-  *(reinterpret_cast<void**>(aligned) - 1) = original;
-  return aligned;
-}
-
-/** \internal frees memory allocated with ei_handmade_aligned_malloc */
-inline void ei_handmade_aligned_free(void *ptr)
-{
-  if(ptr)
-    free(*(reinterpret_cast<void**>(ptr) - 1));
-}
-
-/** \internal allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
-  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
-  */
-inline void* ei_aligned_malloc(size_t size)
-{
-  #ifdef EIGEN_NO_MALLOC
-    ei_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
-  #endif
-
-  void *result;  
-  #if !EIGEN_ALIGN
-    result = malloc(size);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
-    result = malloc(size);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    if(posix_memalign(&result, 16, size)) result = 0;
-  #elif EIGEN_HAS_MM_MALLOC
-    result = _mm_malloc(size, 16);
-  #elif (defined _MSC_VER)
-    result = _aligned_malloc(size, 16);
-  #else
-    result = ei_handmade_aligned_malloc(size);
-  #endif
-    
-  #ifdef EIGEN_EXCEPTIONS
-    if(result == 0)
-      throw std::bad_alloc();
-  #endif
-  return result;
-}
-
-/** allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
-  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
-  */
-template<bool Align> inline void* ei_conditional_aligned_malloc(size_t size)
-{
-  return ei_aligned_malloc(size);
-}
-
-template<> inline void* ei_conditional_aligned_malloc<false>(size_t size)
-{
-  #ifdef EIGEN_NO_MALLOC
-    ei_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
-  #endif
-
-  void *result = malloc(size);
-  #ifdef EIGEN_EXCEPTIONS
-    if(!result) throw std::bad_alloc();
-  #endif
-  return result;
-}
-
-/** \internal construct the elements of an array.
-  * The \a size parameter tells on how many objects to call the constructor of T.
-  */
-template<typename T> inline T* ei_construct_elements_of_array(T *ptr, size_t size)
-{
-  for (size_t i=0; i < size; ++i) ::new (ptr + i) T;
-  return ptr;
-}
-
-/** allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
-  * On allocation error, the returned pointer is undefined, but if exceptions are enabled then a std::bad_alloc is thrown.
-  * The default constructor of T is called.
-  */
-template<typename T> inline T* ei_aligned_new(size_t size)
-{
-  T *result = reinterpret_cast<T*>(ei_aligned_malloc(sizeof(T)*size));
-  return ei_construct_elements_of_array(result, size);
-}
-
-template<typename T, bool Align> inline T* ei_conditional_aligned_new(size_t size)
-{
-  T *result = reinterpret_cast<T*>(ei_conditional_aligned_malloc<Align>(sizeof(T)*size));
-  return ei_construct_elements_of_array(result, size);
-}
-
-/** \internal free memory allocated with ei_aligned_malloc
-  */
-inline void ei_aligned_free(void *ptr)
-{
-  #if !EIGEN_ALIGN
-    free(ptr);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
-    free(ptr);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    free(ptr);
-  #elif EIGEN_HAS_MM_MALLOC
-    _mm_free(ptr);
-  #elif defined(_MSC_VER)
-    _aligned_free(ptr);
-  #else
-    ei_handmade_aligned_free(ptr);
-  #endif
-}
-
-/** \internal free memory allocated with ei_conditional_aligned_malloc
-  */
-template<bool Align> inline void ei_conditional_aligned_free(void *ptr)
-{
-  ei_aligned_free(ptr);
-}
-
-template<> inline void ei_conditional_aligned_free<false>(void *ptr)
-{
-  free(ptr);
-}
-
-/** \internal destruct the elements of an array.
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T> inline void ei_destruct_elements_of_array(T *ptr, size_t size)
-{
-  // always destruct an array starting from the end.
-  while(size) ptr[--size].~T();
-}
-
-/** \internal delete objects constructed with ei_aligned_new
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T> inline void ei_aligned_delete(T *ptr, size_t size)
-{
-  ei_destruct_elements_of_array<T>(ptr, size);
-  ei_aligned_free(ptr);
-}
-
-/** \internal delete objects constructed with ei_conditional_aligned_new
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T, bool Align> inline void ei_conditional_aligned_delete(T *ptr, size_t size)
-{
-  ei_destruct_elements_of_array<T>(ptr, size);
-  ei_conditional_aligned_free<Align>(ptr);
-}
-
-/** \internal \returns the number of elements which have to be skipped such that data are 16 bytes aligned */
-template<typename Scalar>
-inline static int ei_alignmentOffset(const Scalar* ptr, int maxOffset)
-{
-  typedef typename ei_packet_traits<Scalar>::type Packet;
-  const int PacketSize = ei_packet_traits<Scalar>::size;
-  const int PacketAlignedMask = PacketSize-1;
-  const bool Vectorized = PacketSize>1;
-  return Vectorized
-          ? std::min<int>( (PacketSize - (int((size_t(ptr)/sizeof(Scalar))) & PacketAlignedMask))
-                           & PacketAlignedMask, maxOffset)
-          : 0;
-}
-
-/** \internal
-  * ei_aligned_stack_alloc(SIZE) allocates an aligned buffer of SIZE bytes
-  * on the stack if SIZE is smaller than EIGEN_STACK_ALLOCATION_LIMIT.
-  * Otherwise the memory is allocated on the heap.
-  * Data allocated with ei_aligned_stack_alloc \b must be freed by calling ei_aligned_stack_free(PTR,SIZE).
-  * \code
-  * float * data = ei_aligned_stack_alloc(float,array.size());
-  * // ...
-  * ei_aligned_stack_free(data,float,array.size());
-  * \endcode
-  */
-#ifdef __linux__
-  #define ei_aligned_stack_alloc(SIZE) (SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) \
-                                    ? alloca(SIZE) \
-                                    : ei_aligned_malloc(SIZE)
-  #define ei_aligned_stack_free(PTR,SIZE) if(SIZE>EIGEN_STACK_ALLOCATION_LIMIT) ei_aligned_free(PTR)
-#else
-  #define ei_aligned_stack_alloc(SIZE) ei_aligned_malloc(SIZE)
-  #define ei_aligned_stack_free(PTR,SIZE) ei_aligned_free(PTR)
-#endif
-
-#define ei_aligned_stack_new(TYPE,SIZE) ei_construct_elements_of_array(reinterpret_cast<TYPE*>(ei_aligned_stack_alloc(sizeof(TYPE)*SIZE)), SIZE)
-#define ei_aligned_stack_delete(TYPE,PTR,SIZE) do {ei_destruct_elements_of_array<TYPE>(PTR, SIZE); \
-                                                   ei_aligned_stack_free(PTR,sizeof(TYPE)*SIZE);} while(0)
-
-
-#if EIGEN_ALIGN
-  #ifdef EIGEN_EXCEPTIONS
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        try { return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); } \
-        catch (...) { return 0; } \
-        return 0; \
-      }
-  #else
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
-      }
-  #endif
-
-  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
-      void *operator new(size_t size) { \
-        return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
-      } \
-      void *operator new[](size_t size) { \
-        return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
-      } \
-      void operator delete(void * ptr) throw() { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr) throw() { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
-      /* in-place new and delete. since (at least afaik) there is no actual   */ \
-      /* memory allocated we can safely let the default implementation handle */ \
-      /* this particular case. */ \
-      static void *operator new(size_t size, void *ptr) { return ::operator new(size,ptr); } \
-      void operator delete(void * memory, void *ptr) throw() { return ::operator delete(memory,ptr); } \
-      /* nothrow-new (returns zero instead of std::bad_alloc) */ \
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void operator delete(void *ptr, const std::nothrow_t&) throw() { \
-        Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); \
-      } \
-      typedef void ei_operator_new_marker_type;
-#else
-  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
-#endif
-
-#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
-#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0))
-
-
-/** \class aligned_allocator
-*
-* \brief stl compatible allocator to use with with 16 byte aligned types
-*
-* Example:
-* \code
-* // Matrix4f requires 16 bytes alignment:
-* std::map< int, Matrix4f, std::less<int>, aligned_allocator<Matrix4f> > my_map_mat4;
-* // Vector3f does not require 16 bytes alignment, no need to use Eigen's allocator:
-* std::map< int, Vector3f > my_map_vec3;
-* \endcode
-*
-*/
-template<class T>
-class aligned_allocator
-{
-public:
-    typedef size_t    size_type;
-    typedef ptrdiff_t difference_type;
-    typedef T*        pointer;
-    typedef const T*  const_pointer;
-    typedef T&        reference;
-    typedef const T&  const_reference;
-    typedef T         value_type;
-
-    template<class U>
-    struct rebind
-    {
-        typedef aligned_allocator<U> other;
-    };
-
-    pointer address( reference value ) const
-    {
-        return &value;
-    }
-
-    const_pointer address( const_reference value ) const
-    {
-        return &value;
-    }
-
-    aligned_allocator() throw()
-    {
-    }
-
-    aligned_allocator( const aligned_allocator& ) throw()
-    {
-    }
-
-    template<class U>
-    aligned_allocator( const aligned_allocator<U>& ) throw()
-    {
-    }
-
-    ~aligned_allocator() throw()
-    {
-    }
-
-    size_type max_size() const throw()
-    {
-        return std::numeric_limits<size_type>::max();
-    }
-
-    pointer allocate( size_type num, const_pointer* hint = 0 )
-    {
-        static_cast<void>( hint ); // suppress unused variable warning
-        return static_cast<pointer>( ei_aligned_malloc( num * sizeof(T) ) );
-    }
-
-    void construct( pointer p, const T& value )
-    {
-        ::new( p ) T( value );
-    }
-
-    void destroy( pointer p )
-    {
-        p->~T();
-    }
-
-    void deallocate( pointer p, size_type /*num*/ )
-    {
-        ei_aligned_free( p );
-    }
-    
-    bool operator!=(const aligned_allocator<T>& other) const
-    { return false; }
-    
-    bool operator==(const aligned_allocator<T>& other) const
-    { return true; }
-};
-
-#endif // EIGEN_MEMORY_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/Meta.h b/extern/Eigen2/Eigen/src/Core/util/Meta.h
deleted file mode 100644
index c65c52ef42f..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/Meta.h
+++ /dev/null
@@ -1,183 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_META_H
-#define EIGEN_META_H
-
-/** \internal
-  * \file Meta.h
-  * This file contains generic metaprogramming classes which are not specifically related to Eigen.
-  * \note In case you wonder, yes we're aware that Boost already provides all these features,
-  * we however don't want to add a dependency to Boost.
-  */
-
-struct ei_meta_true {  enum { ret = 1 }; };
-struct ei_meta_false { enum { ret = 0 }; };
-
-template<bool Condition, typename Then, typename Else>
-struct ei_meta_if { typedef Then ret; };
-
-template<typename Then, typename Else>
-struct ei_meta_if <false, Then, Else> { typedef Else ret; };
-
-template<typename T, typename U> struct ei_is_same_type { enum { ret = 0 }; };
-template<typename T> struct ei_is_same_type<T,T> { enum { ret = 1 }; };
-
-template<typename T> struct ei_unref { typedef T type; };
-template<typename T> struct ei_unref<T&> { typedef T type; };
-
-template<typename T> struct ei_unpointer { typedef T type; };
-template<typename T> struct ei_unpointer<T*> { typedef T type; };
-template<typename T> struct ei_unpointer<T*const> { typedef T type; };
-
-template<typename T> struct ei_unconst { typedef T type; };
-template<typename T> struct ei_unconst<const T> { typedef T type; };
-template<typename T> struct ei_unconst<T const &> { typedef T & type; };
-template<typename T> struct ei_unconst<T const *> { typedef T * type; };
-
-template<typename T> struct ei_cleantype { typedef T type; };
-template<typename T> struct ei_cleantype<const T>   { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T&>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T&>        { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
-
-/** \internal
-  * Convenient struct to get the result type of a unary or binary functor.
-  *
-  * It supports both the current STL mechanism (using the result_type member) as well as
-  * upcoming next STL generation (using a templated result member).
-  * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
-  */
-template<typename T> struct ei_result_of {};
-
-struct ei_has_none {int a[1];};
-struct ei_has_std_result_type {int a[2];};
-struct ei_has_tr1_result {int a[3];};
-
-template<typename Func, typename ArgType, int SizeOf=sizeof(ei_has_none)>
-struct ei_unary_result_of_select {typedef ArgType type;};
-
-template<typename Func, typename ArgType>
-struct ei_unary_result_of_select<Func, ArgType, sizeof(ei_has_std_result_type)> {typedef typename Func::result_type type;};
-
-template<typename Func, typename ArgType>
-struct ei_unary_result_of_select<Func, ArgType, sizeof(ei_has_tr1_result)> {typedef typename Func::template result<Func(ArgType)>::type type;};
-
-template<typename Func, typename ArgType>
-struct ei_result_of<Func(ArgType)> {
-    template<typename T>
-    static ei_has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
-    template<typename T>
-    static ei_has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
-    static ei_has_none            testFunctor(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
-    typedef typename ei_unary_result_of_select<Func, ArgType, FunctorType>::type type;
-};
-
-template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(ei_has_none)>
-struct ei_binary_result_of_select {typedef ArgType0 type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct ei_binary_result_of_select<Func, ArgType0, ArgType1, sizeof(ei_has_std_result_type)>
-{typedef typename Func::result_type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct ei_binary_result_of_select<Func, ArgType0, ArgType1, sizeof(ei_has_tr1_result)>
-{typedef typename Func::template result<Func(ArgType0,ArgType1)>::type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct ei_result_of<Func(ArgType0,ArgType1)> {
-    template<typename T>
-    static ei_has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
-    template<typename T>
-    static ei_has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
-    static ei_has_none            testFunctor(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
-    typedef typename ei_binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
-};
-
-/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
-  * Usage example: \code ei_meta_sqrt<1023>::ret \endcode
-  */
-template<int Y,
-         int InfX = 0,
-         int SupX = ((Y==1) ? 1 : Y/2),
-         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
-                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
-class ei_meta_sqrt
-{
-    enum {
-      MidX = (InfX+SupX)/2,
-      TakeInf = MidX*MidX > Y ? 1 : 0,
-      NewInf = int(TakeInf) ? InfX : int(MidX),
-      NewSup = int(TakeInf) ? int(MidX) : SupX
-    };
-  public:
-    enum { ret = ei_meta_sqrt<Y,NewInf,NewSup>::ret };
-};
-
-template<int Y, int InfX, int SupX>
-class ei_meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
-
-/** \internal determines whether the product of two numeric types is allowed and what the return type is */
-template<typename T, typename U> struct ei_scalar_product_traits
-{
-  // dummy general case where T and U aren't compatible -- not allowed anyway but we catch it elsewhere
-  //enum { Cost = NumTraits<T>::MulCost };
-  typedef T ReturnType;
-};
-
-template<typename T> struct ei_scalar_product_traits<T,T>
-{
-  //enum { Cost = NumTraits<T>::MulCost };
-  typedef T ReturnType;
-};
-
-template<typename T> struct ei_scalar_product_traits<T,std::complex<T> >
-{
-  //enum { Cost = 2*NumTraits<T>::MulCost };
-  typedef std::complex<T> ReturnType;
-};
-
-template<typename T> struct ei_scalar_product_traits<std::complex<T>, T>
-{
-  //enum { Cost = 2*NumTraits<T>::MulCost  };
-  typedef std::complex<T> ReturnType;
-};
-
-// FIXME quick workaround around current limitation of ei_result_of
-template<typename Scalar, typename ArgType0, typename ArgType1>
-struct ei_result_of<ei_scalar_product_op<Scalar>(ArgType0,ArgType1)> {
-typedef typename ei_scalar_product_traits<typename ei_cleantype<ArgType0>::type, typename ei_cleantype<ArgType1>::type>::ReturnType type;
-};
-
-
-
-#endif // EIGEN_META_H
diff --git a/extern/Eigen2/Eigen/src/Core/util/XprHelper.h b/extern/Eigen2/Eigen/src/Core/util/XprHelper.h
deleted file mode 100644
index 12d6f9a3a3e..00000000000
--- a/extern/Eigen2/Eigen/src/Core/util/XprHelper.h
+++ /dev/null
@@ -1,219 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_XPRHELPER_H
-#define EIGEN_XPRHELPER_H
-
-// just a workaround because GCC seems to not really like empty structs
-#ifdef __GNUG__
-  struct ei_empty_struct{char _ei_dummy_;};
-  #define EIGEN_EMPTY_STRUCT : Eigen::ei_empty_struct
-#else
-  #define EIGEN_EMPTY_STRUCT
-#endif
-
-//classes inheriting ei_no_assignment_operator don't generate a default operator=.
-class ei_no_assignment_operator
-{
-  private:
-    ei_no_assignment_operator& operator=(const ei_no_assignment_operator&);
-};
-
-/** \internal If the template parameter Value is Dynamic, this class is just a wrapper around an int variable that
-  * can be accessed using value() and setValue().
-  * Otherwise, this class is an empty structure and value() just returns the template parameter Value.
-  */
-template<int Value> class ei_int_if_dynamic EIGEN_EMPTY_STRUCT
-{
-  public:
-    ei_int_if_dynamic() {}
-    explicit ei_int_if_dynamic(int) {}
-    static int value() { return Value; }
-    void setValue(int) {}
-};
-
-template<> class ei_int_if_dynamic<Dynamic>
-{
-    int m_value;
-    ei_int_if_dynamic() {}
-  public:
-    explicit ei_int_if_dynamic(int value) : m_value(value) {}
-    int value() const { return m_value; }
-    void setValue(int value) { m_value = value; }
-};
-
-template<typename T> struct ei_functor_traits
-{
-  enum
-  {
-    Cost = 10,
-    PacketAccess = false
-  };
-};
-
-template<typename T> struct ei_packet_traits
-{
-  typedef T type;
-  enum {size=1};
-};
-
-template<typename T> struct ei_unpacket_traits
-{
-  typedef T type;
-  enum {size=1};
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-class ei_compute_matrix_flags
-{
-    enum {
-      row_major_bit = Options&RowMajor ? RowMajorBit : 0,
-      inner_max_size = row_major_bit ? MaxCols : MaxRows,
-      is_big = inner_max_size == Dynamic,
-      is_packet_size_multiple = (Cols*Rows) % ei_packet_traits<Scalar>::size == 0,
-      aligned_bit = ((Options&AutoAlign) && (is_big || is_packet_size_multiple)) ? AlignedBit : 0,
-      packet_access_bit = ei_packet_traits<Scalar>::size > 1 && aligned_bit ? PacketAccessBit : 0
-    };
-
-  public:
-    enum { ret = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit | aligned_bit };
-};
-
-template<int _Rows, int _Cols> struct ei_size_at_compile_time
-{
-  enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
-};
-
-/* ei_eval : the return type of eval(). For matrices, this is just a const reference
- * in order to avoid a useless copy
- */
-
-template<typename T, int Sparseness = ei_traits<T>::Flags&SparseBit> class ei_eval;
-
-template<typename T> struct ei_eval<T,IsDense>
-{
-  typedef Matrix<typename ei_traits<T>::Scalar,
-                ei_traits<T>::RowsAtCompileTime,
-                ei_traits<T>::ColsAtCompileTime,
-                AutoAlign | (ei_traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                ei_traits<T>::MaxRowsAtCompileTime,
-                ei_traits<T>::MaxColsAtCompileTime
-          > type;
-};
-
-// for matrices, no need to evaluate, just use a const reference to avoid a useless copy
-template<typename _Scalar, int _Rows, int _Cols, int _StorageOrder, int _MaxRows, int _MaxCols>
-struct ei_eval<Matrix<_Scalar, _Rows, _Cols, _StorageOrder, _MaxRows, _MaxCols>, IsDense>
-{
-  typedef const Matrix<_Scalar, _Rows, _Cols, _StorageOrder, _MaxRows, _MaxCols>& type;
-};
-
-/* ei_plain_matrix_type : the difference from ei_eval is that ei_plain_matrix_type is always a plain matrix type,
- * whereas ei_eval is a const reference in the case of a matrix
- */
-template<typename T> struct ei_plain_matrix_type
-{
-  typedef Matrix<typename ei_traits<T>::Scalar,
-                ei_traits<T>::RowsAtCompileTime,
-                ei_traits<T>::ColsAtCompileTime,
-                AutoAlign | (ei_traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                ei_traits<T>::MaxRowsAtCompileTime,
-                ei_traits<T>::MaxColsAtCompileTime
-          > type;
-};
-
-/* ei_plain_matrix_type_column_major : same as ei_plain_matrix_type but guaranteed to be column-major
- */
-template<typename T> struct ei_plain_matrix_type_column_major
-{
-  typedef Matrix<typename ei_traits<T>::Scalar,
-                ei_traits<T>::RowsAtCompileTime,
-                ei_traits<T>::ColsAtCompileTime,
-                AutoAlign | ColMajor,
-                ei_traits<T>::MaxRowsAtCompileTime,
-                ei_traits<T>::MaxColsAtCompileTime
-          > type;
-};
-
-template<typename T> struct ei_must_nest_by_value { enum { ret = false }; };
-template<typename T> struct ei_must_nest_by_value<NestByValue<T> > { enum { ret = true }; };
-
-/** \internal Determines how a given expression should be nested into another one.
-  * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
-  * nested into the bigger product expression. The choice is between nesting the expression b+c as-is, or
-  * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
-  * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
-  * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
-  *
-  * \param T the type of the expression being nested
-  * \param n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
-  *
-  * Example. Suppose that a, b, and c are of type Matrix3d. The user forms the expression a*(b+c).
-  * b+c is an expression "sum of matrices", which we will denote by S. In order to determine how to nest it,
-  * the Product expression uses: ei_nested<S, 3>::ret, which turns out to be Matrix3d because the internal logic of
-  * ei_nested determined that in this case it was better to evaluate the expression b+c into a temporary. On the other hand,
-  * since a is of type Matrix3d, the Product expression nests it as ei_nested<Matrix3d, 3>::ret, which turns out to be
-  * const Matrix3d&, because the internal logic of ei_nested determined that since a was already a matrix, there was no point
-  * in copying it into another matrix.
-  */
-template<typename T, int n=1, typename PlainMatrixType = typename ei_eval<T>::type> struct ei_nested
-{
-  enum {
-    CostEval   = (n+1) * int(NumTraits<typename ei_traits<T>::Scalar>::ReadCost),
-    CostNoEval = (n-1) * int(ei_traits<T>::CoeffReadCost)
-  };
-  typedef typename ei_meta_if<
-    ei_must_nest_by_value<T>::ret,
-    T,
-    typename ei_meta_if<
-      (int(ei_traits<T>::Flags) & EvalBeforeNestingBit)
-      || ( int(CostEval) <= int(CostNoEval) ),
-      PlainMatrixType,
-      const T&
-    >::ret
-  >::ret type;
-};
-
-template<unsigned int Flags> struct ei_are_flags_consistent
-{
-  enum { ret = !( (Flags&UnitDiagBit && Flags&ZeroDiagBit) )
-  };
-};
-
-/** \internal Gives the type of a sub-matrix or sub-vector of a matrix of type \a ExpressionType and size \a Size
-  * TODO: could be a good idea to define a big ReturnType struct ??
-  */
-template<typename ExpressionType, int RowsOrSize=Dynamic, int Cols=Dynamic> struct BlockReturnType {
-  typedef Block<ExpressionType, (ei_traits<ExpressionType>::RowsAtCompileTime == 1 ? 1 : RowsOrSize),
-                                (ei_traits<ExpressionType>::ColsAtCompileTime == 1 ? 1 : RowsOrSize)> SubVectorType;
-  typedef Block<ExpressionType, RowsOrSize, Cols> Type;
-};
-
-template<typename CurrentType, typename NewType> struct ei_cast_return_type
-{
-  typedef typename ei_meta_if<ei_is_same_type<CurrentType,NewType>::ret,const CurrentType&,NewType>::ret type;
-};
-
-#endif // EIGEN_XPRHELPER_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h b/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h
deleted file mode 100644
index 047152d0b99..00000000000
--- a/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h
+++ /dev/null
@@ -1,119 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ORTHOMETHODS_H
-#define EIGEN_ORTHOMETHODS_H
-
-/** \geometry_module
-  *
-  * \returns the cross product of \c *this and \a other
-  *
-  * Here is a very good explanation of cross-product: http://xkcd.com/199/
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline typename MatrixBase<Derived>::PlainMatrixType
-MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
-
-  // Note that there is no need for an expression here since the compiler
-  // optimize such a small temporary very well (even within a complex expression)
-  const typename ei_nested<Derived,2>::type lhs(derived());
-  const typename ei_nested<OtherDerived,2>::type rhs(other.derived());
-  return typename ei_plain_matrix_type<Derived>::type(
-    lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
-    lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
-    lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)
-  );
-}
-
-template<typename Derived, int Size = Derived::SizeAtCompileTime>
-struct ei_unitOrthogonal_selector
-{
-  typedef typename ei_plain_matrix_type<Derived>::type VectorType;
-  typedef typename ei_traits<Derived>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  inline static VectorType run(const Derived& src)
-  {
-    VectorType perp(src.size());
-    /* Let us compute the crossed product of *this with a vector
-     * that is not too close to being colinear to *this.
-     */
-
-    /* unless the x and y coords are both close to zero, we can
-     * simply take ( -y, x, 0 ) and normalize it.
-     */
-    if((!ei_isMuchSmallerThan(src.x(), src.z()))
-    || (!ei_isMuchSmallerThan(src.y(), src.z())))
-    {
-      RealScalar invnm = RealScalar(1)/src.template start<2>().norm();
-      perp.coeffRef(0) = -ei_conj(src.y())*invnm;
-      perp.coeffRef(1) = ei_conj(src.x())*invnm;
-      perp.coeffRef(2) = 0;
-    }
-    /* if both x and y are close to zero, then the vector is close
-     * to the z-axis, so it's far from colinear to the x-axis for instance.
-     * So we take the crossed product with (1,0,0) and normalize it.
-     */
-    else
-    {
-      RealScalar invnm = RealScalar(1)/src.template end<2>().norm();
-      perp.coeffRef(0) = 0;
-      perp.coeffRef(1) = -ei_conj(src.z())*invnm;
-      perp.coeffRef(2) = ei_conj(src.y())*invnm;
-    }
-    if( (Derived::SizeAtCompileTime!=Dynamic && Derived::SizeAtCompileTime>3)
-     || (Derived::SizeAtCompileTime==Dynamic && src.size()>3) )
-      perp.end(src.size()-3).setZero();
-
-    return perp;
-   }
-};
-
-template<typename Derived>
-struct ei_unitOrthogonal_selector<Derived,2>
-{
-  typedef typename ei_plain_matrix_type<Derived>::type VectorType;
-  inline static VectorType run(const Derived& src)
-  { return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); }
-};
-
-/** \returns a unit vector which is orthogonal to \c *this
-  *
-  * The size of \c *this must be at least 2. If the size is exactly 2,
-  * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
-  *
-  * \sa cross()
-  */
-template<typename Derived>
-typename MatrixBase<Derived>::PlainMatrixType
-MatrixBase<Derived>::unitOrthogonal() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return ei_unitOrthogonal_selector<Derived>::run(derived());
-}
-
-#endif // EIGEN_ORTHOMETHODS_H
diff --git a/extern/Eigen2/Eigen/src/LU/Inverse.h b/extern/Eigen2/Eigen/src/LU/Inverse.h
deleted file mode 100644
index 3d4d6348949..00000000000
--- a/extern/Eigen2/Eigen/src/LU/Inverse.h
+++ /dev/null
@@ -1,258 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_INVERSE_H
-#define EIGEN_INVERSE_H
-
-/********************************************************************
-*** Part 1 : optimized implementations for fixed-size 2,3,4 cases ***
-********************************************************************/
-
-template<typename MatrixType>
-void ei_compute_inverse_in_size2_case(const MatrixType& matrix, MatrixType* result)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  const Scalar invdet = Scalar(1) / matrix.determinant();
-  result->coeffRef(0,0) = matrix.coeff(1,1) * invdet;
-  result->coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
-  result->coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
-  result->coeffRef(1,1) = matrix.coeff(0,0) * invdet;
-}
-
-template<typename XprType, typename MatrixType>
-bool ei_compute_inverse_in_size2_case_with_check(const XprType& matrix, MatrixType* result)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  const Scalar det = matrix.determinant();
-  if(ei_isMuchSmallerThan(det, matrix.cwise().abs().maxCoeff())) return false;
-  const Scalar invdet = Scalar(1) / det;
-  result->coeffRef(0,0) = matrix.coeff(1,1) * invdet;
-  result->coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
-  result->coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
-  result->coeffRef(1,1) = matrix.coeff(0,0) * invdet;
-  return true;
-}
-
-template<typename MatrixType>
-void ei_compute_inverse_in_size3_case(const MatrixType& matrix, MatrixType* result)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  const Scalar det_minor00 = matrix.minor(0,0).determinant();
-  const Scalar det_minor10 = matrix.minor(1,0).determinant();
-  const Scalar det_minor20 = matrix.minor(2,0).determinant();
-  const Scalar invdet = Scalar(1) / ( det_minor00 * matrix.coeff(0,0)
-                                    - det_minor10 * matrix.coeff(1,0)
-                                    + det_minor20 * matrix.coeff(2,0) );
-  result->coeffRef(0, 0) = det_minor00 * invdet;
-  result->coeffRef(0, 1) = -det_minor10 * invdet;
-  result->coeffRef(0, 2) = det_minor20 * invdet;
-  result->coeffRef(1, 0) = -matrix.minor(0,1).determinant() * invdet;
-  result->coeffRef(1, 1) = matrix.minor(1,1).determinant() * invdet;
-  result->coeffRef(1, 2) = -matrix.minor(2,1).determinant() * invdet;
-  result->coeffRef(2, 0) = matrix.minor(0,2).determinant() * invdet;
-  result->coeffRef(2, 1) = -matrix.minor(1,2).determinant() * invdet;
-  result->coeffRef(2, 2) = matrix.minor(2,2).determinant() * invdet;
-}
-
-template<typename MatrixType>
-bool ei_compute_inverse_in_size4_case_helper(const MatrixType& matrix, MatrixType* result)
-{
-  /* Let's split M into four 2x2 blocks:
-    * (P Q)
-    * (R S)
-    * If P is invertible, with inverse denoted by P_inverse, and if
-    * (S - R*P_inverse*Q) is also invertible, then the inverse of M is
-    * (P' Q')
-    * (R' S')
-    * where
-    * S' = (S - R*P_inverse*Q)^(-1)
-    * P' = P1 + (P1*Q) * S' *(R*P_inverse)
-    * Q' = -(P_inverse*Q) * S'
-    * R' = -S' * (R*P_inverse)
-    */
-  typedef Block<MatrixType,2,2> XprBlock22;
-  typedef typename MatrixBase<XprBlock22>::PlainMatrixType Block22;
-  Block22 P_inverse;
-  if(ei_compute_inverse_in_size2_case_with_check(matrix.template block<2,2>(0,0), &P_inverse))
-  {
-    const Block22 Q = matrix.template block<2,2>(0,2);
-    const Block22 P_inverse_times_Q = P_inverse * Q;
-    const XprBlock22 R = matrix.template block<2,2>(2,0);
-    const Block22 R_times_P_inverse = R * P_inverse;
-    const Block22 R_times_P_inverse_times_Q = R_times_P_inverse * Q;
-    const XprBlock22 S = matrix.template block<2,2>(2,2);
-    const Block22 X = S - R_times_P_inverse_times_Q;
-    Block22 Y;
-    ei_compute_inverse_in_size2_case(X, &Y);
-    result->template block<2,2>(2,2) = Y;
-    result->template block<2,2>(2,0) = - Y * R_times_P_inverse;
-    const Block22 Z = P_inverse_times_Q * Y;
-    result->template block<2,2>(0,2) = - Z;
-    result->template block<2,2>(0,0) = P_inverse + Z * R_times_P_inverse;
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
-
-template<typename MatrixType>
-void ei_compute_inverse_in_size4_case(const MatrixType& matrix, MatrixType* result)
-{
-  if(ei_compute_inverse_in_size4_case_helper(matrix, result))
-  {
-    // good ! The topleft 2x2 block was invertible, so the 2x2 blocks approach is successful.
-    return;
-  }
-  else
-  {
-    // rare case: the topleft 2x2 block is not invertible (but the matrix itself is assumed to be).
-    // since this is a rare case, we don't need to optimize it. We just want to handle it with little
-    // additional code.
-    MatrixType m(matrix);
-    m.row(0).swap(m.row(2));
-    m.row(1).swap(m.row(3));
-    if(ei_compute_inverse_in_size4_case_helper(m, result))
-    {
-      // good, the topleft 2x2 block of m is invertible. Since m is different from matrix in that some
-      // rows were permuted, the actual inverse of matrix is derived from the inverse of m by permuting
-      // the corresponding columns.
-      result->col(0).swap(result->col(2));
-      result->col(1).swap(result->col(3));
-    }
-    else
-    {
-      // last possible case. Since matrix is assumed to be invertible, this last case has to work.
-      // first, undo the swaps previously made
-      m.row(0).swap(m.row(2));
-      m.row(1).swap(m.row(3));
-      // swap row 0 with the the row among 0 and 1 that has the biggest 2 first coeffs
-      int swap0with = ei_abs(m.coeff(0,0))+ei_abs(m.coeff(0,1))>ei_abs(m.coeff(1,0))+ei_abs(m.coeff(1,1)) ? 0 : 1;
-      m.row(0).swap(m.row(swap0with));
-      // swap row 1 with the the row among 2 and 3 that has the biggest 2 first coeffs
-      int swap1with = ei_abs(m.coeff(2,0))+ei_abs(m.coeff(2,1))>ei_abs(m.coeff(3,0))+ei_abs(m.coeff(3,1)) ? 2 : 3;
-      m.row(1).swap(m.row(swap1with));
-      ei_compute_inverse_in_size4_case_helper(m, result);
-      result->col(1).swap(result->col(swap1with));
-      result->col(0).swap(result->col(swap0with));
-    }
-  }
-}
-
-/***********************************************
-*** Part 2 : selector and MatrixBase methods ***
-***********************************************/
-
-template<typename MatrixType, int Size = MatrixType::RowsAtCompileTime>
-struct ei_compute_inverse
-{
-  static inline void run(const MatrixType& matrix, MatrixType* result)
-  {
-    LU<MatrixType> lu(matrix);
-    lu.computeInverse(result);
-  }
-};
-
-template<typename MatrixType>
-struct ei_compute_inverse<MatrixType, 1>
-{
-  static inline void run(const MatrixType& matrix, MatrixType* result)
-  {
-    typedef typename MatrixType::Scalar Scalar;
-    result->coeffRef(0,0) = Scalar(1) / matrix.coeff(0,0);
-  }
-};
-
-template<typename MatrixType>
-struct ei_compute_inverse<MatrixType, 2>
-{
-  static inline void run(const MatrixType& matrix, MatrixType* result)
-  {
-    ei_compute_inverse_in_size2_case(matrix, result);
-  }
-};
-
-template<typename MatrixType>
-struct ei_compute_inverse<MatrixType, 3>
-{
-  static inline void run(const MatrixType& matrix, MatrixType* result)
-  {
-    ei_compute_inverse_in_size3_case(matrix, result);
-  }
-};
-
-template<typename MatrixType>
-struct ei_compute_inverse<MatrixType, 4>
-{
-  static inline void run(const MatrixType& matrix, MatrixType* result)
-  {
-    ei_compute_inverse_in_size4_case(matrix, result);
-  }
-};
-
-/** \lu_module
-  *
-  * Computes the matrix inverse of this matrix.
-  *
-  * \note This matrix must be invertible, otherwise the result is undefined.
-  *
-  * \param result Pointer to the matrix in which to store the result.
-  *
-  * Example: \include MatrixBase_computeInverse.cpp
-  * Output: \verbinclude MatrixBase_computeInverse.out
-  *
-  * \sa inverse()
-  */
-template<typename Derived>
-inline void MatrixBase<Derived>::computeInverse(PlainMatrixType *result) const
-{
-  ei_assert(rows() == cols());
-  EIGEN_STATIC_ASSERT(NumTraits<Scalar>::HasFloatingPoint,NUMERIC_TYPE_MUST_BE_FLOATING_POINT)
-  ei_compute_inverse<PlainMatrixType>::run(eval(), result);
-}
-
-/** \lu_module
-  *
-  * \returns the matrix inverse of this matrix.
-  *
-  * \note This matrix must be invertible, otherwise the result is undefined.
-  *
-  * \note This method returns a matrix by value, which can be inefficient. To avoid that overhead,
-  * use computeInverse() instead.
-  *
-  * Example: \include MatrixBase_inverse.cpp
-  * Output: \verbinclude MatrixBase_inverse.out
-  *
-  * \sa computeInverse()
-  */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::PlainMatrixType MatrixBase<Derived>::inverse() const
-{
-  PlainMatrixType result(rows(), cols());
-  computeInverse(&result);
-  return result;
-}
-
-#endif // EIGEN_INVERSE_H
diff --git a/extern/Eigen2/Eigen/src/LU/LU.h b/extern/Eigen2/Eigen/src/LU/LU.h
deleted file mode 100644
index 176e76a91a3..00000000000
--- a/extern/Eigen2/Eigen/src/LU/LU.h
+++ /dev/null
@@ -1,541 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_LU_H
-#define EIGEN_LU_H
-
-/** \ingroup LU_Module
-  *
-  * \class LU
-  *
-  * \brief LU decomposition of a matrix with complete pivoting, and related features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
-  *
-  * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A
-  * is decomposed as A = PLUQ where L is unit-lower-triangular, U is upper-triangular, and P and Q
-  * are permutation matrices. This is a rank-revealing LU decomposition. The eigenvalues (diagonal
-  * coefficients) of U are sorted in such a way that any zeros are at the end, so that the rank
-  * of A is the index of the first zero on the diagonal of U (with indices starting at 0) if any.
-  *
-  * This decomposition provides the generic approach to solving systems of linear equations, computing
-  * the rank, invertibility, inverse, kernel, and determinant.
-  *
-  * This LU decomposition is very stable and well tested with large matrices. Even exact rank computation
-  * works at sizes larger than 1000x1000. However there are use cases where the SVD decomposition is inherently
-  * more stable when dealing with numerically damaged input. For example, computing the kernel is more stable with
-  * SVD because the SVD can determine which singular values are negligible while LU has to work at the level of matrix
-  * coefficients that are less meaningful in this respect.
-  *
-  * The data of the LU decomposition can be directly accessed through the methods matrixLU(),
-  * permutationP(), permutationQ().
-  *
-  * As an exemple, here is how the original matrix can be retrieved:
-  * \include class_LU.cpp
-  * Output: \verbinclude class_LU.out
-  *
-  * \sa MatrixBase::lu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse()
-  */
-template<typename MatrixType> class LU
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef Matrix<Scalar, 1, MatrixType::ColsAtCompileTime> RowVectorType;
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> ColVectorType;
-
-    enum { MaxSmallDimAtCompileTime = EIGEN_ENUM_MIN(
-             MatrixType::MaxColsAtCompileTime,
-             MatrixType::MaxRowsAtCompileTime)
-    };
-
-    typedef Matrix<typename MatrixType::Scalar,
-                  MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" is the number of cols of the original matrix
-                                                 // so that the product "matrix * kernel = zero" makes sense
-                  Dynamic,                       // we don't know at compile-time the dimension of the kernel
-                  MatrixType::Options,
-                  MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
-                  MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, whose dimension is the number
-                                                   // of columns of the original matrix
-    > KernelResultType;
-
-    typedef Matrix<typename MatrixType::Scalar,
-                   MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose dimension is the number
-                                                  // of rows of the original matrix
-                   Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
-                   MatrixType::Options,
-                   MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
-                   MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
-    > ImageResultType;
-
-    /** Constructor.
-      *
-      * \param matrix the matrix of which to compute the LU decomposition.
-      */
-    LU(const MatrixType& matrix);
-
-    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
-      * unit-lower-triangular part is L (at least for square matrices; in the non-square
-      * case, special care is needed, see the documentation of class LU).
-      *
-      * \sa matrixL(), matrixU()
-      */
-    inline const MatrixType& matrixLU() const
-    {
-      return m_lu;
-    }
-
-    /** \returns a vector of integers, whose size is the number of rows of the matrix being decomposed,
-      * representing the P permutation i.e. the permutation of the rows. For its precise meaning,
-      * see the examples given in the documentation of class LU.
-      *
-      * \sa permutationQ()
-      */
-    inline const IntColVectorType& permutationP() const
-    {
-      return m_p;
-    }
-
-    /** \returns a vector of integers, whose size is the number of columns of the matrix being
-      * decomposed, representing the Q permutation i.e. the permutation of the columns.
-      * For its precise meaning, see the examples given in the documentation of class LU.
-      *
-      * \sa permutationP()
-      */
-    inline const IntRowVectorType& permutationQ() const
-    {
-      return m_q;
-    }
-
-    /** Computes a basis of the kernel of the matrix, also called the null-space of the matrix.
-      *
-      * \note This method is only allowed on non-invertible matrices, as determined by
-      * isInvertible(). Calling it on an invertible matrix will make an assertion fail.
-      *
-      * \param result a pointer to the matrix in which to store the kernel. The columns of this
-      * matrix will be set to form a basis of the kernel (it will be resized
-      * if necessary).
-      *
-      * Example: \include LU_computeKernel.cpp
-      * Output: \verbinclude LU_computeKernel.out
-      *
-      * \sa kernel(), computeImage(), image()
-      */
-    template<typename KernelMatrixType>
-    void computeKernel(KernelMatrixType *result) const;
-
-    /** Computes a basis of the image of the matrix, also called the column-space or range of he matrix.
-      *
-      * \note Calling this method on the zero matrix will make an assertion fail.
-      *
-      * \param result a pointer to the matrix in which to store the image. The columns of this
-      * matrix will be set to form a basis of the image (it will be resized
-      * if necessary).
-      *
-      * Example: \include LU_computeImage.cpp
-      * Output: \verbinclude LU_computeImage.out
-      *
-      * \sa image(), computeKernel(), kernel()
-      */
-    template<typename ImageMatrixType>
-    void computeImage(ImageMatrixType *result) const;
-
-    /** \returns the kernel of the matrix, also called its null-space. The columns of the returned matrix
-      * will form a basis of the kernel.
-      *
-      * \note: this method is only allowed on non-invertible matrices, as determined by
-      * isInvertible(). Calling it on an invertible matrix will make an assertion fail.
-      *
-      * \note: this method returns a matrix by value, which induces some inefficiency.
-      *        If you prefer to avoid this overhead, use computeKernel() instead.
-      *
-      * Example: \include LU_kernel.cpp
-      * Output: \verbinclude LU_kernel.out
-      *
-      * \sa computeKernel(), image()
-      */
-    const KernelResultType kernel() const;
-
-    /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
-      * will form a basis of the kernel.
-      *
-      * \note: Calling this method on the zero matrix will make an assertion fail.
-      *
-      * \note: this method returns a matrix by value, which induces some inefficiency.
-      *        If you prefer to avoid this overhead, use computeImage() instead.
-      *
-      * Example: \include LU_image.cpp
-      * Output: \verbinclude LU_image.out
-      *
-      * \sa computeImage(), kernel()
-      */
-    const ImageResultType image() const;
-
-    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the LU decomposition, if any exists.
-      *
-      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
-      *          the only requirement in order for the equation to make sense is that
-      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
-      * \param result a pointer to the vector or matrix in which to store the solution, if any exists.
-      *          Resized if necessary, so that result->rows()==A.cols() and result->cols()==b.cols().
-      *          If no solution exists, *result is left with undefined coefficients.
-      *
-      * \returns true if any solution exists, false if no solution exists.
-      *
-      * \note If there exist more than one solution, this method will arbitrarily choose one.
-      *       If you need a complete analysis of the space of solutions, take the one solution obtained
-      *       by this method and add to it elements of the kernel, as determined by kernel().
-      *
-      * Example: \include LU_solve.cpp
-      * Output: \verbinclude LU_solve.out
-      *
-      * \sa MatrixBase::solveTriangular(), kernel(), computeKernel(), inverse(), computeInverse()
-      */
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const;
-
-    /** \returns the determinant of the matrix of which
-      * *this is the LU decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the LU decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
-      *       optimized paths.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      *
-      * \sa MatrixBase::determinant()
-      */
-    typename ei_traits<MatrixType>::Scalar determinant() const;
-
-    /** \returns the rank of the matrix of which *this is the LU decomposition.
-      *
-      * \note This is computed at the time of the construction of the LU decomposition. This
-      *       method does not perform any further computation.
-      */
-    inline int rank() const
-    {
-      return m_rank;
-    }
-
-    /** \returns the dimension of the kernel of the matrix of which *this is the LU decomposition.
-      *
-      * \note Since the rank is computed at the time of the construction of the LU decomposition, this
-      *       method almost does not perform any further computation.
-      */
-    inline int dimensionOfKernel() const
-    {
-      return m_lu.cols() - m_rank;
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition represents an injective
-      *          linear map, i.e. has trivial kernel; false otherwise.
-      *
-      * \note Since the rank is computed at the time of the construction of the LU decomposition, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isInjective() const
-    {
-      return m_rank == m_lu.cols();
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition represents a surjective
-      *          linear map; false otherwise.
-      *
-      * \note Since the rank is computed at the time of the construction of the LU decomposition, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isSurjective() const
-    {
-      return m_rank == m_lu.rows();
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition is invertible.
-      *
-      * \note Since the rank is computed at the time of the construction of the LU decomposition, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isInvertible() const
-    {
-      return isInjective() && isSurjective();
-    }
-
-    /** Computes the inverse of the matrix of which *this is the LU decomposition.
-      *
-      * \param result a pointer to the matrix into which to store the inverse. Resized if needed.
-      *
-      * \note If this matrix is not invertible, *result is left with undefined coefficients.
-      *       Use isInvertible() to first determine whether this matrix is invertible.
-      *
-      * \sa MatrixBase::computeInverse(), inverse()
-      */
-    inline void computeInverse(MatrixType *result) const
-    {
-      solve(MatrixType::Identity(m_lu.rows(), m_lu.cols()), result);
-    }
-
-    /** \returns the inverse of the matrix of which *this is the LU decomposition.
-      *
-      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
-      *       Use isInvertible() to first determine whether this matrix is invertible.
-      *
-      * \sa computeInverse(), MatrixBase::inverse()
-      */
-    inline MatrixType inverse() const
-    {
-      MatrixType result;
-      computeInverse(&result);
-      return result;
-    }
-
-  protected:
-    const MatrixType& m_originalMatrix;
-    MatrixType m_lu;
-    IntColVectorType m_p;
-    IntRowVectorType m_q;
-    int m_det_pq;
-    int m_rank;
-    RealScalar m_precision;
-};
-
-template<typename MatrixType>
-LU<MatrixType>::LU(const MatrixType& matrix)
-  : m_originalMatrix(matrix),
-    m_lu(matrix),
-    m_p(matrix.rows()),
-    m_q(matrix.cols())
-{
-  const int size = matrix.diagonal().size();
-  const int rows = matrix.rows();
-  const int cols = matrix.cols();
-  
-  // this formula comes from experimenting (see "LU precision tuning" thread on the list)
-  // and turns out to be identical to Higham's formula used already in LDLt.
-  m_precision = machine_epsilon<Scalar>() * size;
-
-  IntColVectorType rows_transpositions(matrix.rows());
-  IntRowVectorType cols_transpositions(matrix.cols());
-  int number_of_transpositions = 0;
-
-  RealScalar biggest = RealScalar(0);
-  m_rank = size;
-  for(int k = 0; k < size; ++k)
-  {
-    int row_of_biggest_in_corner, col_of_biggest_in_corner;
-    RealScalar biggest_in_corner;
-
-    biggest_in_corner = m_lu.corner(Eigen::BottomRight, rows-k, cols-k)
-                        .cwise().abs()
-                        .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
-    row_of_biggest_in_corner += k;
-    col_of_biggest_in_corner += k;
-    if(k==0) biggest = biggest_in_corner;
-
-    // if the corner is negligible, then we have less than full rank, and we can finish early
-    if(ei_isMuchSmallerThan(biggest_in_corner, biggest, m_precision))
-    {
-      m_rank = k;
-      for(int i = k; i < size; i++)
-      {
-        rows_transpositions.coeffRef(i) = i;
-        cols_transpositions.coeffRef(i) = i;
-      }
-      break;
-    }
-
-    rows_transpositions.coeffRef(k) = row_of_biggest_in_corner;
-    cols_transpositions.coeffRef(k) = col_of_biggest_in_corner;
-    if(k != row_of_biggest_in_corner) {
-      m_lu.row(k).swap(m_lu.row(row_of_biggest_in_corner));
-      ++number_of_transpositions;
-    }
-    if(k != col_of_biggest_in_corner) {
-      m_lu.col(k).swap(m_lu.col(col_of_biggest_in_corner));
-      ++number_of_transpositions;
-    }
-    if(k<rows-1)
-      m_lu.col(k).end(rows-k-1) /= m_lu.coeff(k,k);
-    if(k<size-1)
-      for(int col = k + 1; col < cols; ++col)
-        m_lu.col(col).end(rows-k-1) -= m_lu.col(k).end(rows-k-1) * m_lu.coeff(k,col);
-  }
-
-  for(int k = 0; k < matrix.rows(); ++k) m_p.coeffRef(k) = k;
-  for(int k = size-1; k >= 0; --k)
-    std::swap(m_p.coeffRef(k), m_p.coeffRef(rows_transpositions.coeff(k)));
-
-  for(int k = 0; k < matrix.cols(); ++k) m_q.coeffRef(k) = k;
-  for(int k = 0; k < size; ++k)
-    std::swap(m_q.coeffRef(k), m_q.coeffRef(cols_transpositions.coeff(k)));
-
-  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-}
-
-template<typename MatrixType>
-typename ei_traits<MatrixType>::Scalar LU<MatrixType>::determinant() const
-{
-  return Scalar(m_det_pq) * m_lu.diagonal().redux(ei_scalar_product_op<Scalar>());
-}
-
-template<typename MatrixType>
-template<typename KernelMatrixType>
-void LU<MatrixType>::computeKernel(KernelMatrixType *result) const
-{
-  ei_assert(!isInvertible());
-  const int dimker = dimensionOfKernel(), cols = m_lu.cols();
-  result->resize(cols, dimker);
-
-  /* Let us use the following lemma:
-    *
-    * Lemma: If the matrix A has the LU decomposition PAQ = LU,
-    * then Ker A = Q(Ker U).
-    *
-    * Proof: trivial: just keep in mind that P, Q, L are invertible.
-    */
-
-  /* Thus, all we need to do is to compute Ker U, and then apply Q.
-    *
-    * U is upper triangular, with eigenvalues sorted so that any zeros appear at the end.
-    * Thus, the diagonal of U ends with exactly
-    * m_dimKer zero's. Let us use that to construct m_dimKer linearly
-    * independent vectors in Ker U.
-    */
-
-  Matrix<Scalar, Dynamic, Dynamic, MatrixType::Options,
-         MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime>
-    y(-m_lu.corner(TopRight, m_rank, dimker));
-
-  m_lu.corner(TopLeft, m_rank, m_rank)
-      .template marked<UpperTriangular>()
-      .solveTriangularInPlace(y);
-
-  for(int i = 0; i < m_rank; ++i) result->row(m_q.coeff(i)) = y.row(i);
-  for(int i = m_rank; i < cols; ++i) result->row(m_q.coeff(i)).setZero();
-  for(int k = 0; k < dimker; ++k) result->coeffRef(m_q.coeff(m_rank+k), k) = Scalar(1);
-}
-
-template<typename MatrixType>
-const typename LU<MatrixType>::KernelResultType
-LU<MatrixType>::kernel() const
-{
-  KernelResultType result(m_lu.cols(), dimensionOfKernel());
-  computeKernel(&result);
-  return result;
-}
-
-template<typename MatrixType>
-template<typename ImageMatrixType>
-void LU<MatrixType>::computeImage(ImageMatrixType *result) const
-{
-  ei_assert(m_rank > 0);
-  result->resize(m_originalMatrix.rows(), m_rank);
-  for(int i = 0; i < m_rank; ++i)
-    result->col(i) = m_originalMatrix.col(m_q.coeff(i));
-}
-
-template<typename MatrixType>
-const typename LU<MatrixType>::ImageResultType
-LU<MatrixType>::image() const
-{
-  ImageResultType result(m_originalMatrix.rows(), m_rank);
-  computeImage(&result);
-  return result;
-}
-
-template<typename MatrixType>
-template<typename OtherDerived, typename ResultType>
-bool LU<MatrixType>::solve(
-  const MatrixBase<OtherDerived>& b,
-  ResultType *result
-) const
-{
-  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
-   * So we proceed as follows:
-   * Step 1: compute c = Pb.
-   * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
-   * Step 3: replace c by the solution x to Ux = c. Check if a solution really exists.
-   * Step 4: result = Qc;
-   */
-
-  const int rows = m_lu.rows(), cols = m_lu.cols();
-  ei_assert(b.rows() == rows);
-  const int smalldim = std::min(rows, cols);
-
-  typename OtherDerived::PlainMatrixType c(b.rows(), b.cols());
-
-  // Step 1
-  for(int i = 0; i < rows; ++i) c.row(m_p.coeff(i)) = b.row(i);
-
-  // Step 2
-  m_lu.corner(Eigen::TopLeft,smalldim,smalldim).template marked<UnitLowerTriangular>()
-    .solveTriangularInPlace(
-      c.corner(Eigen::TopLeft, smalldim, c.cols()));
-  if(rows>cols)
-  {
-    c.corner(Eigen::BottomLeft, rows-cols, c.cols())
-      -= m_lu.corner(Eigen::BottomLeft, rows-cols, cols) * c.corner(Eigen::TopLeft, cols, c.cols());
-  }
-
-  // Step 3
-  if(!isSurjective())
-  {
-    // is c is in the image of U ?
-    RealScalar biggest_in_c = m_rank>0 ? c.corner(TopLeft, m_rank, c.cols()).cwise().abs().maxCoeff() : 0;
-    for(int col = 0; col < c.cols(); ++col)
-      for(int row = m_rank; row < c.rows(); ++row)
-        if(!ei_isMuchSmallerThan(c.coeff(row,col), biggest_in_c, m_precision))
-          return false;
-  }
-  m_lu.corner(TopLeft, m_rank, m_rank)
-      .template marked<UpperTriangular>()
-      .solveTriangularInPlace(c.corner(TopLeft, m_rank, c.cols()));
-
-  // Step 4
-  result->resize(m_lu.cols(), b.cols());
-  for(int i = 0; i < m_rank; ++i) result->row(m_q.coeff(i)) = c.row(i);
-  for(int i = m_rank; i < m_lu.cols(); ++i) result->row(m_q.coeff(i)).setZero();
-  return true;
-}
-
-/** \lu_module
-  *
-  * \return the LU decomposition of \c *this.
-  *
-  * \sa class LU
-  */
-template<typename Derived>
-inline const LU<typename MatrixBase<Derived>::PlainMatrixType>
-MatrixBase<Derived>::lu() const
-{
-  return LU<PlainMatrixType>(eval());
-}
-
-#endif // EIGEN_LU_H
diff --git a/extern/Eigen2/Eigen/src/QR/EigenSolver.h b/extern/Eigen2/Eigen/src/QR/EigenSolver.h
deleted file mode 100644
index 70f21cebcdb..00000000000
--- a/extern/Eigen2/Eigen/src/QR/EigenSolver.h
+++ /dev/null
@@ -1,722 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_EIGENSOLVER_H
-#define EIGEN_EIGENSOLVER_H
-
-/** \ingroup QR_Module
-  * \nonstableyet
-  *
-  * \class EigenSolver
-  *
-  * \brief Eigen values/vectors solver for non selfadjoint matrices
-  *
-  * \param MatrixType the type of the matrix of which we are computing the eigen decomposition
-  *
-  * Currently it only support real matrices.
-  *
-  * \note this code was adapted from JAMA (public domain)
-  *
-  * \sa MatrixBase::eigenvalues(), SelfAdjointEigenSolver
-  */
-template<typename _MatrixType> class EigenSolver
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef std::complex<RealScalar> Complex;
-    typedef Matrix<Complex, MatrixType::ColsAtCompileTime, 1> EigenvalueType;
-    typedef Matrix<Complex, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime> EigenvectorType;
-    typedef Matrix<RealScalar, MatrixType::ColsAtCompileTime, 1> RealVectorType;
-    typedef Matrix<RealScalar, Dynamic, 1> RealVectorTypeX;
-
-    /** 
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via EigenSolver::compute(const MatrixType&).
-    */
-    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false) {}
-
-    EigenSolver(const MatrixType& matrix)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix);
-    }
-
-
-    EigenvectorType eigenvectors(void) const;
-
-    /** \returns a real matrix V of pseudo eigenvectors.
-      *
-      * Let D be the block diagonal matrix with the real eigenvalues in 1x1 blocks,
-      * and any complex values u+iv in 2x2 blocks [u v ; -v u]. Then, the matrices D
-      * and V satisfy A*V = V*D.
-      *
-      * More precisely, if the diagonal matrix of the eigen values is:\n
-      * \f$
-      * \left[ \begin{array}{cccccc}
-      * u+iv &      &      &      &   &   \\
-      *      & u-iv &      &      &   &   \\
-      *      &      & a+ib &      &   &   \\
-      *      &      &      & a-ib &   &   \\
-      *      &      &      &      & x &   \\
-      *      &      &      &      &   & y \\
-      * \end{array} \right]
-      * \f$ \n
-      * then, we have:\n
-      * \f$
-      * D =\left[ \begin{array}{cccccc}
-      *  u & v &    &   &   &   \\
-      * -v & u &    &   &   &   \\
-      *    &   &  a & b &   &   \\
-      *    &   & -b & a &   &   \\
-      *    &   &    &   & x &   \\
-      *    &   &    &   &   & y \\
-      * \end{array} \right]
-      * \f$
-      *
-      * \sa pseudoEigenvalueMatrix()
-      */
-    const MatrixType& pseudoEigenvectors() const 
-    { 
-      ei_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_eivec; 
-    }
-
-    MatrixType pseudoEigenvalueMatrix() const;
-
-    /** \returns the eigenvalues as a column vector */
-    EigenvalueType eigenvalues() const 
-    { 
-      ei_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_eivalues; 
-    }
-
-    void compute(const MatrixType& matrix);
-
-  private:
-
-    void orthes(MatrixType& matH, RealVectorType& ort);
-    void hqr2(MatrixType& matH);
-
-  protected:
-    MatrixType m_eivec;
-    EigenvalueType m_eivalues;
-    bool m_isInitialized;
-};
-
-/** \returns the real block diagonal matrix D of the eigenvalues.
-  *
-  * See pseudoEigenvectors() for the details.
-  */
-template<typename MatrixType>
-MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
-{
-  ei_assert(m_isInitialized && "EigenSolver is not initialized.");
-  int n = m_eivec.cols();
-  MatrixType matD = MatrixType::Zero(n,n);
-  for (int i=0; i<n; ++i)
-  {
-    if (ei_isMuchSmallerThan(ei_imag(m_eivalues.coeff(i)), ei_real(m_eivalues.coeff(i))))
-      matD.coeffRef(i,i) = ei_real(m_eivalues.coeff(i));
-    else
-    {
-      matD.template block<2,2>(i,i) <<  ei_real(m_eivalues.coeff(i)), ei_imag(m_eivalues.coeff(i)),
-                                       -ei_imag(m_eivalues.coeff(i)), ei_real(m_eivalues.coeff(i));
-      ++i;
-    }
-  }
-  return matD;
-}
-
-/** \returns the normalized complex eigenvectors as a matrix of column vectors.
-  *
-  * \sa eigenvalues(), pseudoEigenvectors()
-  */
-template<typename MatrixType>
-typename EigenSolver<MatrixType>::EigenvectorType EigenSolver<MatrixType>::eigenvectors(void) const
-{
-  ei_assert(m_isInitialized && "EigenSolver is not initialized.");
-  int n = m_eivec.cols();
-  EigenvectorType matV(n,n);
-  for (int j=0; j<n; ++j)
-  {
-    if (ei_isMuchSmallerThan(ei_abs(ei_imag(m_eivalues.coeff(j))), ei_abs(ei_real(m_eivalues.coeff(j)))))
-    {
-      // we have a real eigen value
-      matV.col(j) = m_eivec.col(j).template cast<Complex>();
-    }
-    else
-    {
-      // we have a pair of complex eigen values
-      for (int i=0; i<n; ++i)
-      {
-        matV.coeffRef(i,j)   = Complex(m_eivec.coeff(i,j),  m_eivec.coeff(i,j+1));
-        matV.coeffRef(i,j+1) = Complex(m_eivec.coeff(i,j), -m_eivec.coeff(i,j+1));
-      }
-      matV.col(j).normalize();
-      matV.col(j+1).normalize();
-      ++j;
-    }
-  }
-  return matV;
-}
-
-template<typename MatrixType>
-void EigenSolver<MatrixType>::compute(const MatrixType& matrix)
-{
-  assert(matrix.cols() == matrix.rows());
-  int n = matrix.cols();
-  m_eivalues.resize(n,1);
-
-  MatrixType matH = matrix;
-  RealVectorType ort(n);
-
-  // Reduce to Hessenberg form.
-  orthes(matH, ort);
-
-  // Reduce Hessenberg to real Schur form.
-  hqr2(matH);
-
-  m_isInitialized = true;
-}
-
-// Nonsymmetric reduction to Hessenberg form.
-template<typename MatrixType>
-void EigenSolver<MatrixType>::orthes(MatrixType& matH, RealVectorType& ort)
-{
-  //  This is derived from the Algol procedures orthes and ortran,
-  //  by Martin and Wilkinson, Handbook for Auto. Comp.,
-  //  Vol.ii-Linear Algebra, and the corresponding
-  //  Fortran subroutines in EISPACK.
-
-  int n = m_eivec.cols();
-  int low = 0;
-  int high = n-1;
-
-  for (int m = low+1; m <= high-1; ++m)
-  {
-    // Scale column.
-    RealScalar scale = matH.block(m, m-1, high-m+1, 1).cwise().abs().sum();
-    if (scale != 0.0)
-    {
-      // Compute Householder transformation.
-      RealScalar h = 0.0;
-      // FIXME could be rewritten, but this one looks better wrt cache
-      for (int i = high; i >= m; i--)
-      {
-        ort.coeffRef(i) = matH.coeff(i,m-1)/scale;
-        h += ort.coeff(i) * ort.coeff(i);
-      }
-      RealScalar g = ei_sqrt(h);
-      if (ort.coeff(m) > 0)
-        g = -g;
-      h = h - ort.coeff(m) * g;
-      ort.coeffRef(m) = ort.coeff(m) - g;
-
-      // Apply Householder similarity transformation
-      // H = (I-u*u'/h)*H*(I-u*u')/h)
-      int bSize = high-m+1;
-      matH.block(m, m, bSize, n-m) -= ((ort.segment(m, bSize)/h)
-        * (ort.segment(m, bSize).transpose() *  matH.block(m, m, bSize, n-m)).lazy()).lazy();
-
-      matH.block(0, m, high+1, bSize) -= ((matH.block(0, m, high+1, bSize) * ort.segment(m, bSize)).lazy()
-        * (ort.segment(m, bSize)/h).transpose()).lazy();
-
-      ort.coeffRef(m) = scale*ort.coeff(m);
-      matH.coeffRef(m,m-1) = scale*g;
-    }
-  }
-
-  // Accumulate transformations (Algol's ortran).
-  m_eivec.setIdentity();
-
-  for (int m = high-1; m >= low+1; m--)
-  {
-    if (matH.coeff(m,m-1) != 0.0)
-    {
-      ort.segment(m+1, high-m) = matH.col(m-1).segment(m+1, high-m);
-
-      int bSize = high-m+1;
-      m_eivec.block(m, m, bSize, bSize) += ( (ort.segment(m, bSize) /  (matH.coeff(m,m-1) * ort.coeff(m) ) )
-        * (ort.segment(m, bSize).transpose() * m_eivec.block(m, m, bSize, bSize)).lazy());
-    }
-  }
-}
-
-// Complex scalar division.
-template<typename Scalar>
-std::complex<Scalar> cdiv(Scalar xr, Scalar xi, Scalar yr, Scalar yi)
-{
-  Scalar r,d;
-  if (ei_abs(yr) > ei_abs(yi))
-  {
-      r = yi/yr;
-      d = yr + r*yi;
-      return std::complex<Scalar>((xr + r*xi)/d, (xi - r*xr)/d);
-  }
-  else
-  {
-      r = yr/yi;
-      d = yi + r*yr;
-      return std::complex<Scalar>((r*xr + xi)/d, (r*xi - xr)/d);
-  }
-}
-
-
-// Nonsymmetric reduction from Hessenberg to real Schur form.
-template<typename MatrixType>
-void EigenSolver<MatrixType>::hqr2(MatrixType& matH)
-{
-  //  This is derived from the Algol procedure hqr2,
-  //  by Martin and Wilkinson, Handbook for Auto. Comp.,
-  //  Vol.ii-Linear Algebra, and the corresponding
-  //  Fortran subroutine in EISPACK.
-
-  // Initialize
-  int nn = m_eivec.cols();
-  int n = nn-1;
-  int low = 0;
-  int high = nn-1;
-  Scalar eps = ei_pow(Scalar(2),ei_is_same_type<Scalar,float>::ret ? Scalar(-23) : Scalar(-52));
-  Scalar exshift = 0.0;
-  Scalar p=0,q=0,r=0,s=0,z=0,t,w,x,y;
-
-  // Store roots isolated by balanc and compute matrix norm
-  // FIXME to be efficient the following would requires a triangular reduxion code
-  // Scalar norm = matH.upper().cwise().abs().sum() + matH.corner(BottomLeft,n,n).diagonal().cwise().abs().sum();
-  Scalar norm = 0.0;
-  for (int j = 0; j < nn; ++j)
-  {
-    // FIXME what's the purpose of the following since the condition is always false
-    if ((j < low) || (j > high))
-    {
-      m_eivalues.coeffRef(j) = Complex(matH.coeff(j,j), 0.0);
-    }
-    norm += matH.row(j).segment(std::max(j-1,0), nn-std::max(j-1,0)).cwise().abs().sum();
-  }
-
-  // Outer loop over eigenvalue index
-  int iter = 0;
-  while (n >= low)
-  {
-    // Look for single small sub-diagonal element
-    int l = n;
-    while (l > low)
-    {
-      s = ei_abs(matH.coeff(l-1,l-1)) + ei_abs(matH.coeff(l,l));
-      if (s == 0.0)
-          s = norm;
-      if (ei_abs(matH.coeff(l,l-1)) < eps * s)
-        break;
-      l--;
-    }
-
-    // Check for convergence
-    // One root found
-    if (l == n)
-    {
-      matH.coeffRef(n,n) = matH.coeff(n,n) + exshift;
-      m_eivalues.coeffRef(n) = Complex(matH.coeff(n,n), 0.0);
-      n--;
-      iter = 0;
-    }
-    else if (l == n-1) // Two roots found
-    {
-      w = matH.coeff(n,n-1) * matH.coeff(n-1,n);
-      p = (matH.coeff(n-1,n-1) - matH.coeff(n,n)) * Scalar(0.5);
-      q = p * p + w;
-      z = ei_sqrt(ei_abs(q));
-      matH.coeffRef(n,n) = matH.coeff(n,n) + exshift;
-      matH.coeffRef(n-1,n-1) = matH.coeff(n-1,n-1) + exshift;
-      x = matH.coeff(n,n);
-
-      // Scalar pair
-      if (q >= 0)
-      {
-        if (p >= 0)
-          z = p + z;
-        else
-          z = p - z;
-
-        m_eivalues.coeffRef(n-1) = Complex(x + z, 0.0);
-        m_eivalues.coeffRef(n) = Complex(z!=0.0 ? x - w / z : m_eivalues.coeff(n-1).real(), 0.0);
-
-        x = matH.coeff(n,n-1);
-        s = ei_abs(x) + ei_abs(z);
-        p = x / s;
-        q = z / s;
-        r = ei_sqrt(p * p+q * q);
-        p = p / r;
-        q = q / r;
-
-        // Row modification
-        for (int j = n-1; j < nn; ++j)
-        {
-          z = matH.coeff(n-1,j);
-          matH.coeffRef(n-1,j) = q * z + p * matH.coeff(n,j);
-          matH.coeffRef(n,j) = q * matH.coeff(n,j) - p * z;
-        }
-
-        // Column modification
-        for (int i = 0; i <= n; ++i)
-        {
-          z = matH.coeff(i,n-1);
-          matH.coeffRef(i,n-1) = q * z + p * matH.coeff(i,n);
-          matH.coeffRef(i,n) = q * matH.coeff(i,n) - p * z;
-        }
-
-        // Accumulate transformations
-        for (int i = low; i <= high; ++i)
-        {
-          z = m_eivec.coeff(i,n-1);
-          m_eivec.coeffRef(i,n-1) = q * z + p * m_eivec.coeff(i,n);
-          m_eivec.coeffRef(i,n) = q * m_eivec.coeff(i,n) - p * z;
-        }
-      }
-      else // Complex pair
-      {
-        m_eivalues.coeffRef(n-1) = Complex(x + p, z);
-        m_eivalues.coeffRef(n)   = Complex(x + p, -z);
-      }
-      n = n - 2;
-      iter = 0;
-    }
-    else // No convergence yet
-    {
-      // Form shift
-      x = matH.coeff(n,n);
-      y = 0.0;
-      w = 0.0;
-      if (l < n)
-      {
-          y = matH.coeff(n-1,n-1);
-          w = matH.coeff(n,n-1) * matH.coeff(n-1,n);
-      }
-
-      // Wilkinson's original ad hoc shift
-      if (iter == 10)
-      {
-        exshift += x;
-        for (int i = low; i <= n; ++i)
-          matH.coeffRef(i,i) -= x;
-        s = ei_abs(matH.coeff(n,n-1)) + ei_abs(matH.coeff(n-1,n-2));
-        x = y = Scalar(0.75) * s;
-        w = Scalar(-0.4375) * s * s;
-      }
-
-      // MATLAB's new ad hoc shift
-      if (iter == 30)
-      {
-        s = Scalar((y - x) / 2.0);
-        s = s * s + w;
-        if (s > 0)
-        {
-          s = ei_sqrt(s);
-          if (y < x)
-            s = -s;
-          s = Scalar(x - w / ((y - x) / 2.0 + s));
-          for (int i = low; i <= n; ++i)
-            matH.coeffRef(i,i) -= s;
-          exshift += s;
-          x = y = w = Scalar(0.964);
-        }
-      }
-
-      iter = iter + 1;   // (Could check iteration count here.)
-
-      // Look for two consecutive small sub-diagonal elements
-      int m = n-2;
-      while (m >= l)
-      {
-        z = matH.coeff(m,m);
-        r = x - z;
-        s = y - z;
-        p = (r * s - w) / matH.coeff(m+1,m) + matH.coeff(m,m+1);
-        q = matH.coeff(m+1,m+1) - z - r - s;
-        r = matH.coeff(m+2,m+1);
-        s = ei_abs(p) + ei_abs(q) + ei_abs(r);
-        p = p / s;
-        q = q / s;
-        r = r / s;
-        if (m == l) {
-          break;
-        }
-        if (ei_abs(matH.coeff(m,m-1)) * (ei_abs(q) + ei_abs(r)) <
-          eps * (ei_abs(p) * (ei_abs(matH.coeff(m-1,m-1)) + ei_abs(z) +
-          ei_abs(matH.coeff(m+1,m+1)))))
-        {
-          break;
-        }
-        m--;
-      }
-
-      for (int i = m+2; i <= n; ++i)
-      {
-        matH.coeffRef(i,i-2) = 0.0;
-        if (i > m+2)
-          matH.coeffRef(i,i-3) = 0.0;
-      }
-
-      // Double QR step involving rows l:n and columns m:n
-      for (int k = m; k <= n-1; ++k)
-      {
-        int notlast = (k != n-1);
-        if (k != m) {
-          p = matH.coeff(k,k-1);
-          q = matH.coeff(k+1,k-1);
-          r = notlast ? matH.coeff(k+2,k-1) : Scalar(0);
-          x = ei_abs(p) + ei_abs(q) + ei_abs(r);
-          if (x != 0.0)
-          {
-            p = p / x;
-            q = q / x;
-            r = r / x;
-          }
-        }
-
-        if (x == 0.0)
-          break;
-
-        s = ei_sqrt(p * p + q * q + r * r);
-
-        if (p < 0)
-          s = -s;
-
-        if (s != 0)
-        {
-          if (k != m)
-            matH.coeffRef(k,k-1) = -s * x;
-          else if (l != m)
-            matH.coeffRef(k,k-1) = -matH.coeff(k,k-1);
-
-          p = p + s;
-          x = p / s;
-          y = q / s;
-          z = r / s;
-          q = q / p;
-          r = r / p;
-
-          // Row modification
-          for (int j = k; j < nn; ++j)
-          {
-            p = matH.coeff(k,j) + q * matH.coeff(k+1,j);
-            if (notlast)
-            {
-              p = p + r * matH.coeff(k+2,j);
-              matH.coeffRef(k+2,j) = matH.coeff(k+2,j) - p * z;
-            }
-            matH.coeffRef(k,j) = matH.coeff(k,j) - p * x;
-            matH.coeffRef(k+1,j) = matH.coeff(k+1,j) - p * y;
-          }
-
-          // Column modification
-          for (int i = 0; i <= std::min(n,k+3); ++i)
-          {
-            p = x * matH.coeff(i,k) + y * matH.coeff(i,k+1);
-            if (notlast)
-            {
-              p = p + z * matH.coeff(i,k+2);
-              matH.coeffRef(i,k+2) = matH.coeff(i,k+2) - p * r;
-            }
-            matH.coeffRef(i,k) = matH.coeff(i,k) - p;
-            matH.coeffRef(i,k+1) = matH.coeff(i,k+1) - p * q;
-          }
-
-          // Accumulate transformations
-          for (int i = low; i <= high; ++i)
-          {
-            p = x * m_eivec.coeff(i,k) + y * m_eivec.coeff(i,k+1);
-            if (notlast)
-            {
-              p = p + z * m_eivec.coeff(i,k+2);
-              m_eivec.coeffRef(i,k+2) = m_eivec.coeff(i,k+2) - p * r;
-            }
-            m_eivec.coeffRef(i,k) = m_eivec.coeff(i,k) - p;
-            m_eivec.coeffRef(i,k+1) = m_eivec.coeff(i,k+1) - p * q;
-          }
-        }  // (s != 0)
-      }  // k loop
-    }  // check convergence
-  }  // while (n >= low)
-
-  // Backsubstitute to find vectors of upper triangular form
-  if (norm == 0.0)
-  {
-      return;
-  }
-
-  for (n = nn-1; n >= 0; n--)
-  {
-    p = m_eivalues.coeff(n).real();
-    q = m_eivalues.coeff(n).imag();
-
-    // Scalar vector
-    if (q == 0)
-    {
-      int l = n;
-      matH.coeffRef(n,n) = 1.0;
-      for (int i = n-1; i >= 0; i--)
-      {
-        w = matH.coeff(i,i) - p;
-        r = (matH.row(i).segment(l,n-l+1) * matH.col(n).segment(l, n-l+1))(0,0);
-
-        if (m_eivalues.coeff(i).imag() < 0.0)
-        {
-          z = w;
-          s = r;
-        }
-        else
-        {
-          l = i;
-          if (m_eivalues.coeff(i).imag() == 0.0)
-          {
-            if (w != 0.0)
-              matH.coeffRef(i,n) = -r / w;
-            else
-              matH.coeffRef(i,n) = -r / (eps * norm);
-          }
-          else // Solve real equations
-          {
-            x = matH.coeff(i,i+1);
-            y = matH.coeff(i+1,i);
-            q = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag();
-            t = (x * s - z * r) / q;
-            matH.coeffRef(i,n) = t;
-            if (ei_abs(x) > ei_abs(z))
-              matH.coeffRef(i+1,n) = (-r - w * t) / x;
-            else
-              matH.coeffRef(i+1,n) = (-s - y * t) / z;
-          }
-
-          // Overflow control
-          t = ei_abs(matH.coeff(i,n));
-          if ((eps * t) * t > 1)
-            matH.col(n).end(nn-i) /= t;
-        }
-      }
-    }
-    else if (q < 0) // Complex vector
-    {
-      std::complex<Scalar> cc;
-      int l = n-1;
-
-      // Last vector component imaginary so matrix is triangular
-      if (ei_abs(matH.coeff(n,n-1)) > ei_abs(matH.coeff(n-1,n)))
-      {
-        matH.coeffRef(n-1,n-1) = q / matH.coeff(n,n-1);
-        matH.coeffRef(n-1,n) = -(matH.coeff(n,n) - p) / matH.coeff(n,n-1);
-      }
-      else
-      {
-        cc = cdiv<Scalar>(0.0,-matH.coeff(n-1,n),matH.coeff(n-1,n-1)-p,q);
-        matH.coeffRef(n-1,n-1) = ei_real(cc);
-        matH.coeffRef(n-1,n) = ei_imag(cc);
-      }
-      matH.coeffRef(n,n-1) = 0.0;
-      matH.coeffRef(n,n) = 1.0;
-      for (int i = n-2; i >= 0; i--)
-      {
-        Scalar ra,sa,vr,vi;
-        ra = (matH.block(i,l, 1, n-l+1) * matH.block(l,n-1, n-l+1, 1)).lazy()(0,0);
-        sa = (matH.block(i,l, 1, n-l+1) * matH.block(l,n, n-l+1, 1)).lazy()(0,0);
-        w = matH.coeff(i,i) - p;
-
-        if (m_eivalues.coeff(i).imag() < 0.0)
-        {
-          z = w;
-          r = ra;
-          s = sa;
-        }
-        else
-        {
-          l = i;
-          if (m_eivalues.coeff(i).imag() == 0)
-          {
-            cc = cdiv(-ra,-sa,w,q);
-            matH.coeffRef(i,n-1) = ei_real(cc);
-            matH.coeffRef(i,n) = ei_imag(cc);
-          }
-          else
-          {
-            // Solve complex equations
-            x = matH.coeff(i,i+1);
-            y = matH.coeff(i+1,i);
-            vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
-            vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
-            if ((vr == 0.0) && (vi == 0.0))
-              vr = eps * norm * (ei_abs(w) + ei_abs(q) + ei_abs(x) + ei_abs(y) + ei_abs(z));
-
-            cc= cdiv(x*r-z*ra+q*sa,x*s-z*sa-q*ra,vr,vi);
-            matH.coeffRef(i,n-1) = ei_real(cc);
-            matH.coeffRef(i,n) = ei_imag(cc);
-            if (ei_abs(x) > (ei_abs(z) + ei_abs(q)))
-            {
-              matH.coeffRef(i+1,n-1) = (-ra - w * matH.coeff(i,n-1) + q * matH.coeff(i,n)) / x;
-              matH.coeffRef(i+1,n) = (-sa - w * matH.coeff(i,n) - q * matH.coeff(i,n-1)) / x;
-            }
-            else
-            {
-              cc = cdiv(-r-y*matH.coeff(i,n-1),-s-y*matH.coeff(i,n),z,q);
-              matH.coeffRef(i+1,n-1) = ei_real(cc);
-              matH.coeffRef(i+1,n) = ei_imag(cc);
-            }
-          }
-
-          // Overflow control
-          t = std::max(ei_abs(matH.coeff(i,n-1)),ei_abs(matH.coeff(i,n)));
-          if ((eps * t) * t > 1)
-            matH.block(i, n-1, nn-i, 2) /= t;
-
-        }
-      }
-    }
-  }
-
-  // Vectors of isolated roots
-  for (int i = 0; i < nn; ++i)
-  {
-    // FIXME again what's the purpose of this test ?
-    // in this algo low==0 and high==nn-1 !!
-    if (i < low || i > high)
-    {
-      m_eivec.row(i).end(nn-i) = matH.row(i).end(nn-i);
-    }
-  }
-
-  // Back transformation to get eigenvectors of original matrix
-  int bRows = high-low+1;
-  for (int j = nn-1; j >= low; j--)
-  {
-    int bSize = std::min(j,high)-low+1;
-    m_eivec.col(j).segment(low, bRows) = (m_eivec.block(low, low, bRows, bSize) * matH.col(j).segment(low, bSize));
-  }
-}
-
-#endif // EIGEN_EIGENSOLVER_H
diff --git a/extern/Eigen2/Eigen/src/QR/HessenbergDecomposition.h b/extern/Eigen2/Eigen/src/QR/HessenbergDecomposition.h
deleted file mode 100644
index 6d0ff794ec2..00000000000
--- a/extern/Eigen2/Eigen/src/QR/HessenbergDecomposition.h
+++ /dev/null
@@ -1,250 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_HESSENBERGDECOMPOSITION_H
-#define EIGEN_HESSENBERGDECOMPOSITION_H
-
-/** \ingroup QR_Module
-  * \nonstableyet
-  *
-  * \class HessenbergDecomposition
-  *
-  * \brief Reduces a squared matrix to an Hessemberg form
-  *
-  * \param MatrixType the type of the matrix of which we are computing the Hessenberg decomposition
-  *
-  * This class performs an Hessenberg decomposition of a matrix \f$ A \f$ such that:
-  * \f$ A = Q H Q^* \f$ where \f$ Q \f$ is unitary and \f$ H \f$ a Hessenberg matrix.
-  *
-  * \sa class Tridiagonalization, class Qr
-  */
-template<typename _MatrixType> class HessenbergDecomposition
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      SizeMinusOne = MatrixType::RowsAtCompileTime==Dynamic
-                   ? Dynamic
-                   : MatrixType::RowsAtCompileTime-1
-    };
-
-    typedef Matrix<Scalar, SizeMinusOne, 1> CoeffVectorType;
-    typedef Matrix<RealScalar, Size, 1> DiagonalType;
-    typedef Matrix<RealScalar, SizeMinusOne, 1> SubDiagonalType;
-
-    typedef typename NestByValue<DiagonalCoeffs<MatrixType> >::RealReturnType DiagonalReturnType;
-
-    typedef typename NestByValue<DiagonalCoeffs<
-        NestByValue<Block<MatrixType,SizeMinusOne,SizeMinusOne> > > >::RealReturnType SubDiagonalReturnType;
-
-    /** This constructor initializes a HessenbergDecomposition object for
-      * further use with HessenbergDecomposition::compute()
-      */
-    HessenbergDecomposition(int size = Size==Dynamic ? 2 : Size)
-      : m_matrix(size,size), m_hCoeffs(size-1)
-    {}
-
-    HessenbergDecomposition(const MatrixType& matrix)
-      : m_matrix(matrix),
-        m_hCoeffs(matrix.cols()-1)
-    {
-      _compute(m_matrix, m_hCoeffs);
-    }
-
-    /** Computes or re-compute the Hessenberg decomposition for the matrix \a matrix.
-      *
-      * This method allows to re-use the allocated data.
-      */
-    void compute(const MatrixType& matrix)
-    {
-      m_matrix = matrix;
-      m_hCoeffs.resize(matrix.rows()-1,1);
-      _compute(m_matrix, m_hCoeffs);
-    }
-
-    /** \returns the householder coefficients allowing to
-      * reconstruct the matrix Q from the packed data.
-      *
-      * \sa packedMatrix()
-      */
-    CoeffVectorType householderCoefficients(void) const { return m_hCoeffs; }
-
-    /** \returns the internal result of the decomposition.
-      *
-      * The returned matrix contains the following information:
-      *  - the upper part and lower sub-diagonal represent the Hessenberg matrix H
-      *  - the rest of the lower part contains the Householder vectors that, combined with
-      *    Householder coefficients returned by householderCoefficients(),
-      *    allows to reconstruct the matrix Q as follow:
-      *       Q = H_{N-1} ... H_1 H_0
-      *    where the matrices H are the Householder transformation:
-      *       H_i = (I - h_i * v_i * v_i')
-      *    where h_i == householderCoefficients()[i] and v_i is a Householder vector:
-      *       v_i = [ 0, ..., 0, 1, M(i+2,i), ..., M(N-1,i) ]
-      *
-      * See LAPACK for further details on this packed storage.
-      */
-    const MatrixType& packedMatrix(void) const { return m_matrix; }
-
-    MatrixType matrixQ(void) const;
-    MatrixType matrixH(void) const;
-
-  private:
-
-    static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs);
-
-  protected:
-    MatrixType m_matrix;
-    CoeffVectorType m_hCoeffs;
-};
-
-#ifndef EIGEN_HIDE_HEAVY_CODE
-
-/** \internal
-  * Performs a tridiagonal decomposition of \a matA in place.
-  *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
-  *
-  * The result is written in the lower triangular part of \a matA.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
-  *
-  * \sa packedMatrix()
-  */
-template<typename MatrixType>
-void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs)
-{
-  assert(matA.rows()==matA.cols());
-  int n = matA.rows();
-  for (int i = 0; i<n-2; ++i)
-  {
-    // let's consider the vector v = i-th column starting at position i+1
-
-    // start of the householder transformation
-    // squared norm of the vector v skipping the first element
-    RealScalar v1norm2 = matA.col(i).end(n-(i+2)).squaredNorm();
-
-    if (ei_isMuchSmallerThan(v1norm2,static_cast<Scalar>(1)))
-    {
-      hCoeffs.coeffRef(i) = 0.;
-    }
-    else
-    {
-      Scalar v0 = matA.col(i).coeff(i+1);
-      RealScalar beta = ei_sqrt(ei_abs2(v0)+v1norm2);
-      if (ei_real(v0)>=0.)
-        beta = -beta;
-      matA.col(i).end(n-(i+2)) *= (Scalar(1)/(v0-beta));
-      matA.col(i).coeffRef(i+1) = beta;
-      Scalar h = (beta - v0) / beta;
-      // end of the householder transformation
-
-      // Apply similarity transformation to remaining columns,
-      // i.e., A = H' A H where H = I - h v v' and v = matA.col(i).end(n-i-1)
-      matA.col(i).coeffRef(i+1) = 1;
-
-      // first let's do A = H A
-      matA.corner(BottomRight,n-i-1,n-i-1) -= ((ei_conj(h) * matA.col(i).end(n-i-1)) *
-        (matA.col(i).end(n-i-1).adjoint() * matA.corner(BottomRight,n-i-1,n-i-1))).lazy();
-
-      // now let's do A = A H
-      matA.corner(BottomRight,n,n-i-1) -= ((matA.corner(BottomRight,n,n-i-1) * matA.col(i).end(n-i-1))
-                                        * (h * matA.col(i).end(n-i-1).adjoint())).lazy();
-
-      matA.col(i).coeffRef(i+1) = beta;
-      hCoeffs.coeffRef(i) = h;
-    }
-  }
-  if (NumTraits<Scalar>::IsComplex)
-  {
-    // Householder transformation on the remaining single scalar
-    int i = n-2;
-    Scalar v0 = matA.coeff(i+1,i);
-
-    RealScalar beta = ei_sqrt(ei_abs2(v0));
-    if (ei_real(v0)>=0.)
-      beta = -beta;
-    Scalar h = (beta - v0) / beta;
-    hCoeffs.coeffRef(i) = h;
-
-    // A = H* A
-    matA.corner(BottomRight,n-i-1,n-i) -= ei_conj(h) * matA.corner(BottomRight,n-i-1,n-i);
-
-    // A = A H
-    matA.col(n-1) -= h * matA.col(n-1);
-  }
-  else
-  {
-    hCoeffs.coeffRef(n-2) = 0;
-  }
-}
-
-/** reconstructs and returns the matrix Q */
-template<typename MatrixType>
-typename HessenbergDecomposition<MatrixType>::MatrixType
-HessenbergDecomposition<MatrixType>::matrixQ(void) const
-{
-  int n = m_matrix.rows();
-  MatrixType matQ = MatrixType::Identity(n,n);
-  for (int i = n-2; i>=0; i--)
-  {
-    Scalar tmp = m_matrix.coeff(i+1,i);
-    m_matrix.const_cast_derived().coeffRef(i+1,i) = 1;
-
-    matQ.corner(BottomRight,n-i-1,n-i-1) -=
-      ((m_hCoeffs.coeff(i) * m_matrix.col(i).end(n-i-1)) *
-      (m_matrix.col(i).end(n-i-1).adjoint() * matQ.corner(BottomRight,n-i-1,n-i-1)).lazy()).lazy();
-
-    m_matrix.const_cast_derived().coeffRef(i+1,i) = tmp;
-  }
-  return matQ;
-}
-
-#endif // EIGEN_HIDE_HEAVY_CODE
-
-/** constructs and returns the matrix H.
-  * Note that the matrix H is equivalent to the upper part of the packed matrix
-  * (including the lower sub-diagonal). Therefore, it might be often sufficient
-  * to directly use the packed matrix instead of creating a new one.
-  */
-template<typename MatrixType>
-typename HessenbergDecomposition<MatrixType>::MatrixType
-HessenbergDecomposition<MatrixType>::matrixH(void) const
-{
-  // FIXME should this function (and other similar) rather take a matrix as argument
-  // and fill it (to avoid temporaries)
-  int n = m_matrix.rows();
-  MatrixType matH = m_matrix;
-  if (n>2)
-    matH.corner(BottomLeft,n-2, n-2).template part<LowerTriangular>().setZero();
-  return matH;
-}
-
-#endif // EIGEN_HESSENBERGDECOMPOSITION_H
diff --git a/extern/Eigen2/Eigen/src/QR/QR.h b/extern/Eigen2/Eigen/src/QR/QR.h
deleted file mode 100644
index 90751dd428d..00000000000
--- a/extern/Eigen2/Eigen/src/QR/QR.h
+++ /dev/null
@@ -1,334 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_QR_H
-#define EIGEN_QR_H
-
-/** \ingroup QR_Module
-  * \nonstableyet
-  *
-  * \class QR
-  *
-  * \brief QR decomposition of a matrix
-  *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
-  *
-  * This class performs a QR decomposition using Householder transformations. The result is
-  * stored in a compact way compatible with LAPACK.
-  *
-  * \sa MatrixBase::qr()
-  */
-template<typename MatrixType> class QR
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef Block<MatrixType, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixRBlockType;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixTypeR;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
-
-    /** 
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via QR::compute(const MatrixType&).
-    */
-    QR() : m_qr(), m_hCoeffs(), m_isInitialized(false) {}
-
-    QR(const MatrixType& matrix)
-      : m_qr(matrix.rows(), matrix.cols()),
-        m_hCoeffs(matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix);
-    }
-    
-    /** \deprecated use isInjective()
-      * \returns whether or not the matrix is of full rank
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    EIGEN_DEPRECATED bool isFullRank() const 
-    { 
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      return rank() == m_qr.cols(); 
-    }
-    
-    /** \returns the rank of the matrix of which *this is the QR decomposition.
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    int rank() const;
-    
-    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    inline int dimensionOfKernel() const
-    {
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      return m_qr.cols() - rank();
-    }
-    
-    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
-      *          linear map, i.e. has trivial kernel; false otherwise.
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isInjective() const
-    {
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      return rank() == m_qr.cols();
-    }
-    
-    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
-      *          linear map; false otherwise.
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isSurjective() const
-    {
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      return rank() == m_qr.rows();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
-      *
-      * \note Since the rank is computed only once, i.e. the first time it is needed, this
-      *       method almost does not perform any further computation.
-      */
-    inline bool isInvertible() const
-    {
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      return isInjective() && isSurjective();
-    }
-    
-    /** \returns a read-only expression of the matrix R of the actual the QR decomposition */
-    const Part<NestByValue<MatrixRBlockType>, UpperTriangular>
-    matrixR(void) const
-    {
-      ei_assert(m_isInitialized && "QR is not initialized.");
-      int cols = m_qr.cols();
-      return MatrixRBlockType(m_qr, 0, 0, cols, cols).nestByValue().template part<UpperTriangular>();
-    }
-
-    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the QR decomposition, if any exists.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \param result a pointer to the vector/matrix in which to store the solution, if any exists.
-      *          Resized if necessary, so that result->rows()==A.cols() and result->cols()==b.cols().
-      *          If no solution exists, *result is left with undefined coefficients.
-      *
-      * \returns true if any solution exists, false if no solution exists.
-      *
-      * \note If there exist more than one solution, this method will arbitrarily choose one.
-      *       If you need a complete analysis of the space of solutions, take the one solution obtained
-      *       by this method and add to it elements of the kernel, as determined by kernel().
-      *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
-      * Example: \include QR_solve.cpp
-      * Output: \verbinclude QR_solve.out
-      *
-      * \sa MatrixBase::solveTriangular(), kernel(), computeKernel(), inverse(), computeInverse()
-      */
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const;
-
-    MatrixType matrixQ(void) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-    MatrixType m_qr;
-    VectorType m_hCoeffs;
-    mutable int m_rank;
-    mutable bool m_rankIsUptodate;
-    bool m_isInitialized;
-};
-
-/** \returns the rank of the matrix of which *this is the QR decomposition. */
-template<typename MatrixType>
-int QR<MatrixType>::rank() const
-{
-  ei_assert(m_isInitialized && "QR is not initialized.");
-  if (!m_rankIsUptodate)
-  {
-    RealScalar maxCoeff = m_qr.diagonal().cwise().abs().maxCoeff();
-    int n = m_qr.cols();
-    m_rank = 0;
-    while(m_rank<n && !ei_isMuchSmallerThan(m_qr.diagonal().coeff(m_rank), maxCoeff))
-      ++m_rank;
-    m_rankIsUptodate = true;
-  }
-  return m_rank;
-}
-
-#ifndef EIGEN_HIDE_HEAVY_CODE
-
-template<typename MatrixType>
-void QR<MatrixType>::compute(const MatrixType& matrix)
-{ 
-  m_rankIsUptodate = false;
-  m_qr = matrix;
-  m_hCoeffs.resize(matrix.cols());
-
-  int rows = matrix.rows();
-  int cols = matrix.cols();
-  RealScalar eps2 = precision<RealScalar>()*precision<RealScalar>();
-
-  for (int k = 0; k < cols; ++k)
-  {
-    int remainingSize = rows-k;
-
-    RealScalar beta;
-    Scalar v0 = m_qr.col(k).coeff(k);
-
-    if (remainingSize==1)
-    {
-      if (NumTraits<Scalar>::IsComplex)
-      {
-        // Householder transformation on the remaining single scalar
-        beta = ei_abs(v0);
-        if (ei_real(v0)>0)
-          beta = -beta;
-        m_qr.coeffRef(k,k) = beta;
-        m_hCoeffs.coeffRef(k) = (beta - v0) / beta;
-      }
-      else
-      {
-        m_hCoeffs.coeffRef(k) = 0;
-      }
-    }
-    else if ((beta=m_qr.col(k).end(remainingSize-1).squaredNorm())>eps2)
-    // FIXME what about ei_imag(v0) ??
-    {
-      // form k-th Householder vector
-      beta = ei_sqrt(ei_abs2(v0)+beta);
-      if (ei_real(v0)>=0.)
-        beta = -beta;
-      m_qr.col(k).end(remainingSize-1) /= v0-beta;
-      m_qr.coeffRef(k,k) = beta;
-      Scalar h = m_hCoeffs.coeffRef(k) = (beta - v0) / beta;
-
-      // apply the Householder transformation (I - h v v') to remaining columns, i.e.,
-      // R <- (I - h v v') * R   where v = [1,m_qr(k+1,k), m_qr(k+2,k), ...]
-      int remainingCols = cols - k -1;
-      if (remainingCols>0)
-      {
-        m_qr.coeffRef(k,k) = Scalar(1);
-        m_qr.corner(BottomRight, remainingSize, remainingCols) -= ei_conj(h) * m_qr.col(k).end(remainingSize)
-            * (m_qr.col(k).end(remainingSize).adjoint() * m_qr.corner(BottomRight, remainingSize, remainingCols));
-        m_qr.coeffRef(k,k) = beta;
-      }
-    }
-    else
-    {
-      m_hCoeffs.coeffRef(k) = 0;
-    }
-  }
-  m_isInitialized = true;
-}
-
-template<typename MatrixType>
-template<typename OtherDerived, typename ResultType>
-bool QR<MatrixType>::solve(
-  const MatrixBase<OtherDerived>& b,
-  ResultType *result
-) const
-{
-  ei_assert(m_isInitialized && "QR is not initialized.");
-  const int rows = m_qr.rows();
-  ei_assert(b.rows() == rows);
-  result->resize(rows, b.cols());
-  
-  // TODO(keir): There is almost certainly a faster way to multiply by
-  // Q^T without explicitly forming matrixQ(). Investigate.
-  *result = matrixQ().transpose()*b;
-  
-  if(!isSurjective())
-  {
-    // is result is in the image of R ?
-    RealScalar biggest_in_res = result->corner(TopLeft, m_rank, result->cols()).cwise().abs().maxCoeff();
-    for(int col = 0; col < result->cols(); ++col)
-      for(int row = m_rank; row < result->rows(); ++row)
-        if(!ei_isMuchSmallerThan(result->coeff(row,col), biggest_in_res))
-          return false;
-  }
-  m_qr.corner(TopLeft, m_rank, m_rank)
-      .template marked<UpperTriangular>()
-      .solveTriangularInPlace(result->corner(TopLeft, m_rank, result->cols()));
-
-  return true;
-}
-
-/** \returns the matrix Q */
-template<typename MatrixType>
-MatrixType QR<MatrixType>::matrixQ() const
-{
-  ei_assert(m_isInitialized && "QR is not initialized.");
-  // compute the product Q_0 Q_1 ... Q_n-1,
-  // where Q_k is the k-th Householder transformation I - h_k v_k v_k'
-  // and v_k is the k-th Householder vector [1,m_qr(k+1,k), m_qr(k+2,k), ...]
-  int rows = m_qr.rows();
-  int cols = m_qr.cols();
-  MatrixType res = MatrixType::Identity(rows, cols);
-  for (int k = cols-1; k >= 0; k--)
-  {
-    // to make easier the computation of the transformation, let's temporarily
-    // overwrite m_qr(k,k) such that the end of m_qr.col(k) is exactly our Householder vector.
-    Scalar beta = m_qr.coeff(k,k);
-    m_qr.const_cast_derived().coeffRef(k,k) = 1;
-    int endLength = rows-k;
-    res.corner(BottomRight,endLength, cols-k) -= ((m_hCoeffs.coeff(k) * m_qr.col(k).end(endLength))
-      * (m_qr.col(k).end(endLength).adjoint() * res.corner(BottomRight,endLength, cols-k)).lazy()).lazy();
-    m_qr.const_cast_derived().coeffRef(k,k) = beta;
-  }
-  return res;
-}
-
-#endif // EIGEN_HIDE_HEAVY_CODE
-
-/** \return the QR decomposition of \c *this.
-  *
-  * \sa class QR
-  */
-template<typename Derived>
-const QR<typename MatrixBase<Derived>::PlainMatrixType>
-MatrixBase<Derived>::qr() const
-{
-  return QR<PlainMatrixType>(eval());
-}
-
-
-#endif // EIGEN_QR_H
diff --git a/extern/Eigen2/Eigen/src/QR/SelfAdjointEigenSolver.h b/extern/Eigen2/Eigen/src/QR/SelfAdjointEigenSolver.h
deleted file mode 100644
index 70984efab9d..00000000000
--- a/extern/Eigen2/Eigen/src/QR/SelfAdjointEigenSolver.h
+++ /dev/null
@@ -1,402 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
-#define EIGEN_SELFADJOINTEIGENSOLVER_H
-
-/** \qr_module \ingroup QR_Module
-  * \nonstableyet
-  *
-  * \class SelfAdjointEigenSolver
-  *
-  * \brief Eigen values/vectors solver for selfadjoint matrix
-  *
-  * \param MatrixType the type of the matrix of which we are computing the eigen decomposition
-  *
-  * \note MatrixType must be an actual Matrix type, it can't be an expression type.
-  *
-  * \sa MatrixBase::eigenvalues(), class EigenSolver
-  */
-template<typename _MatrixType> class SelfAdjointEigenSolver
-{
-  public:
-
-    enum {Size = _MatrixType::RowsAtCompileTime };
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef std::complex<RealScalar> Complex;
-    typedef Matrix<RealScalar, MatrixType::ColsAtCompileTime, 1> RealVectorType;
-    typedef Matrix<RealScalar, Dynamic, 1> RealVectorTypeX;
-    typedef Tridiagonalization<MatrixType> TridiagonalizationType;
-
-    SelfAdjointEigenSolver()
-        : m_eivec(int(Size), int(Size)),
-          m_eivalues(int(Size))
-    {
-      ei_assert(Size!=Dynamic);
-    }
-
-    SelfAdjointEigenSolver(int size)
-        : m_eivec(size, size),
-          m_eivalues(size)
-    {}
-
-    /** Constructors computing the eigenvalues of the selfadjoint matrix \a matrix,
-      * as well as the eigenvectors if \a computeEigenvectors is true.
-      *
-      * \sa compute(MatrixType,bool), SelfAdjointEigenSolver(MatrixType,MatrixType,bool)
-      */
-    SelfAdjointEigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols())
-    {
-      compute(matrix, computeEigenvectors);
-    }
-
-    /** Constructors computing the eigenvalues of the generalized eigen problem
-      * \f$ Ax = lambda B x \f$ with \a matA the selfadjoint matrix \f$ A \f$
-      * and \a matB the positive definite matrix \f$ B \f$ . The eigenvectors
-      * are computed if \a computeEigenvectors is true.
-      *
-      * \sa compute(MatrixType,MatrixType,bool), SelfAdjointEigenSolver(MatrixType,bool)
-      */
-    SelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-      : m_eivec(matA.rows(), matA.cols()),
-        m_eivalues(matA.cols())
-    {
-      compute(matA, matB, computeEigenvectors);
-    }
-
-    void compute(const MatrixType& matrix, bool computeEigenvectors = true);
-
-    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true);
-
-    /** \returns the computed eigen vectors as a matrix of column vectors */
-    MatrixType eigenvectors(void) const
-    {
-      #ifndef NDEBUG
-      ei_assert(m_eigenvectorsOk);
-      #endif
-      return m_eivec;
-    }
-
-    /** \returns the computed eigen values */
-    RealVectorType eigenvalues(void) const { return m_eivalues; }
-
-    /** \returns the positive square root of the matrix
-      *
-      * \note the matrix itself must be positive in order for this to make sense.
-      */
-    MatrixType operatorSqrt() const
-    {
-      return m_eivec * m_eivalues.cwise().sqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-    /** \returns the positive inverse square root of the matrix
-      *
-      * \note the matrix itself must be positive definite in order for this to make sense.
-      */
-    MatrixType operatorInverseSqrt() const
-    {
-      return m_eivec * m_eivalues.cwise().inverse().cwise().sqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-
-  protected:
-    MatrixType m_eivec;
-    RealVectorType m_eivalues;
-    #ifndef NDEBUG
-    bool m_eigenvectorsOk;
-    #endif
-};
-
-#ifndef EIGEN_HIDE_HEAVY_CODE
-
-// from Golub's "Matrix Computations", algorithm 5.1.3
-template<typename Scalar>
-static void ei_givens_rotation(Scalar a, Scalar b, Scalar& c, Scalar& s)
-{
-  if (b==0)
-  {
-    c = 1; s = 0;
-  }
-  else if (ei_abs(b)>ei_abs(a))
-  {
-    Scalar t = -a/b;
-    s = Scalar(1)/ei_sqrt(1+t*t);
-    c = s * t;
-  }
-  else
-  {
-    Scalar t = -b/a;
-    c = Scalar(1)/ei_sqrt(1+t*t);
-    s = c * t;
-  }
-}
-
-/** \internal
-  *
-  * \qr_module
-  *
-  * Performs a QR step on a tridiagonal symmetric matrix represented as a
-  * pair of two vectors \a diag and \a subdiag.
-  *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
-  *
-  * For compilation efficiency reasons, this procedure does not use eigen expression
-  * for its arguments.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
-  * "implicit symmetric QR step with Wilkinson shift"
-  */
-template<typename RealScalar, typename Scalar>
-static void ei_tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, int start, int end, Scalar* matrixQ, int n);
-
-/** Computes the eigenvalues of the selfadjoint matrix \a matrix,
-  * as well as the eigenvectors if \a computeEigenvectors is true.
-  *
-  * \sa SelfAdjointEigenSolver(MatrixType,bool), compute(MatrixType,MatrixType,bool)
-  */
-template<typename MatrixType>
-void SelfAdjointEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
-{
-  #ifndef NDEBUG
-  m_eigenvectorsOk = computeEigenvectors;
-  #endif
-  assert(matrix.cols() == matrix.rows());
-  int n = matrix.cols();
-  m_eivalues.resize(n,1);
-
-  if(n==1)
-  {
-    m_eivalues.coeffRef(0,0) = ei_real(matrix.coeff(0,0));
-    m_eivec.setOnes();
-    return;
-  }
-
-  m_eivec = matrix;
-
-  // FIXME, should tridiag be a local variable of this function or an attribute of SelfAdjointEigenSolver ?
-  // the latter avoids multiple memory allocation when the same SelfAdjointEigenSolver is used multiple times...
-  // (same for diag and subdiag)
-  RealVectorType& diag = m_eivalues;
-  typename TridiagonalizationType::SubDiagonalType subdiag(n-1);
-  TridiagonalizationType::decomposeInPlace(m_eivec, diag, subdiag, computeEigenvectors);
-
-  int end = n-1;
-  int start = 0;
-  while (end>0)
-  {
-    for (int i = start; i<end; ++i)
-      if (ei_isMuchSmallerThan(ei_abs(subdiag[i]),(ei_abs(diag[i])+ei_abs(diag[i+1]))))
-        subdiag[i] = 0;
-
-    // find the largest unreduced block
-    while (end>0 && subdiag[end-1]==0)
-      end--;
-    if (end<=0)
-      break;
-    start = end - 1;
-    while (start>0 && subdiag[start-1]!=0)
-      start--;
-
-    ei_tridiagonal_qr_step(diag.data(), subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
-  }
-
-  // Sort eigenvalues and corresponding vectors.
-  // TODO make the sort optional ?
-  // TODO use a better sort algorithm !!
-  for (int i = 0; i < n-1; ++i)
-  {
-    int k;
-    m_eivalues.segment(i,n-i).minCoeff(&k);
-    if (k > 0)
-    {
-      std::swap(m_eivalues[i], m_eivalues[k+i]);
-      m_eivec.col(i).swap(m_eivec.col(k+i));
-    }
-  }
-}
-
-/** Computes the eigenvalues of the generalized eigen problem
-  * \f$ Ax = lambda B x \f$ with \a matA the selfadjoint matrix \f$ A \f$
-  * and \a matB the positive definite matrix \f$ B \f$ . The eigenvectors
-  * are computed if \a computeEigenvectors is true.
-  *
-  * \sa SelfAdjointEigenSolver(MatrixType,MatrixType,bool), compute(MatrixType,bool)
-  */
-template<typename MatrixType>
-void SelfAdjointEigenSolver<MatrixType>::
-compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors)
-{
-  ei_assert(matA.cols()==matA.rows() && matB.rows()==matA.rows() && matB.cols()==matB.rows());
-
-  // Compute the cholesky decomposition of matB = L L'
-  LLT<MatrixType> cholB(matB);
-
-  // compute C = inv(L) A inv(L')
-  MatrixType matC = matA;
-  cholB.matrixL().solveTriangularInPlace(matC);
-  // FIXME since we currently do not support A * inv(L'), let's do (inv(L) A')' :
-  matC = matC.adjoint().eval();
-  cholB.matrixL().template marked<LowerTriangular>().solveTriangularInPlace(matC);
-  matC = matC.adjoint().eval();
-  // this version works too:
-//   matC = matC.transpose();
-//   cholB.matrixL().conjugate().template marked<LowerTriangular>().solveTriangularInPlace(matC);
-//   matC = matC.transpose();
-  // FIXME: this should work: (currently it only does for small matrices)
-//   Transpose<MatrixType> trMatC(matC);
-//   cholB.matrixL().conjugate().eval().template marked<LowerTriangular>().solveTriangularInPlace(trMatC);
-
-  compute(matC, computeEigenvectors);
-
-  if (computeEigenvectors)
-  {
-    // transform back the eigen vectors: evecs = inv(U) * evecs
-    cholB.matrixL().adjoint().template marked<UpperTriangular>().solveTriangularInPlace(m_eivec);
-    for (int i=0; i<m_eivec.cols(); ++i)
-      m_eivec.col(i) = m_eivec.col(i).normalized();
-  }
-}
-
-#endif // EIGEN_HIDE_HEAVY_CODE
-
-/** \qr_module
-  *
-  * \returns a vector listing the eigenvalues of this matrix.
-  */
-template<typename Derived>
-inline Matrix<typename NumTraits<typename ei_traits<Derived>::Scalar>::Real, ei_traits<Derived>::ColsAtCompileTime, 1>
-MatrixBase<Derived>::eigenvalues() const
-{
-  ei_assert(Flags&SelfAdjointBit);
-  return SelfAdjointEigenSolver<typename Derived::PlainMatrixType>(eval(),false).eigenvalues();
-}
-
-template<typename Derived, bool IsSelfAdjoint>
-struct ei_operatorNorm_selector
-{
-  static inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real
-  operatorNorm(const MatrixBase<Derived>& m)
-  {
-    // FIXME if it is really guaranteed that the eigenvalues are already sorted,
-    // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
-    return m.eigenvalues().cwise().abs().maxCoeff();
-  }
-};
-
-template<typename Derived> struct ei_operatorNorm_selector<Derived, false>
-{
-  static inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real
-  operatorNorm(const MatrixBase<Derived>& m)
-  {
-    typename Derived::PlainMatrixType m_eval(m);
-    // FIXME if it is really guaranteed that the eigenvalues are already sorted,
-    // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
-    return ei_sqrt(
-             (m_eval*m_eval.adjoint())
-             .template marked<SelfAdjoint>()
-             .eigenvalues()
-             .maxCoeff()
-           );
-  }
-};
-
-/** \qr_module
-  *
-  * \returns the matrix norm of this matrix.
-  */
-template<typename Derived>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real
-MatrixBase<Derived>::operatorNorm() const
-{
-  return ei_operatorNorm_selector<Derived, Flags&SelfAdjointBit>
-       ::operatorNorm(derived());
-}
-
-#ifndef EIGEN_EXTERN_INSTANTIATIONS
-template<typename RealScalar, typename Scalar>
-static void ei_tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, int start, int end, Scalar* matrixQ, int n)
-{
-  RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
-  RealScalar e2 = ei_abs2(subdiag[end-1]);
-  RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * ei_sqrt(td*td + e2));
-  RealScalar x = diag[start] - mu;
-  RealScalar z = subdiag[start];
-
-  for (int k = start; k < end; ++k)
-  {
-    RealScalar c, s;
-    ei_givens_rotation(x, z, c, s);
-
-    // do T = G' T G
-    RealScalar sdk = s * diag[k] + c * subdiag[k];
-    RealScalar dkp1 = s * subdiag[k] + c * diag[k+1];
-
-    diag[k] = c * (c * diag[k] - s * subdiag[k]) - s * (c * subdiag[k] - s * diag[k+1]);
-    diag[k+1] = s * sdk + c * dkp1;
-    subdiag[k] = c * sdk - s * dkp1;
-
-    if (k > start)
-      subdiag[k - 1] = c * subdiag[k-1] - s * z;
-
-    x = subdiag[k];
-
-    if (k < end - 1)
-    {
-      z = -s * subdiag[k+1];
-      subdiag[k + 1] = c * subdiag[k+1];
-    }
-
-    // apply the givens rotation to the unit matrix Q = Q * G
-    // G only modifies the two columns k and k+1
-    if (matrixQ)
-    {
-      #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-      #else
-      int kn = k*n;
-      int kn1 = (k+1)*n;
-      #endif
-      // let's do the product manually to avoid the need of temporaries...
-      for (int i=0; i<n; ++i)
-      {
-        #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-        Scalar matrixQ_i_k = matrixQ[i*n+k];
-        matrixQ[i*n+k]   = c * matrixQ_i_k - s * matrixQ[i*n+k+1];
-        matrixQ[i*n+k+1] = s * matrixQ_i_k + c * matrixQ[i*n+k+1];
-        #else
-        Scalar matrixQ_i_k = matrixQ[i+kn];
-        matrixQ[i+kn]  = c * matrixQ_i_k - s * matrixQ[i+kn1];
-        matrixQ[i+kn1] = s * matrixQ_i_k + c * matrixQ[i+kn1];
-        #endif
-      }
-    }
-  }
-}
-#endif
-
-#endif // EIGEN_SELFADJOINTEIGENSOLVER_H
diff --git a/extern/Eigen2/Eigen/src/QR/Tridiagonalization.h b/extern/Eigen2/Eigen/src/QR/Tridiagonalization.h
deleted file mode 100644
index 9ea39be717c..00000000000
--- a/extern/Eigen2/Eigen/src/QR/Tridiagonalization.h
+++ /dev/null
@@ -1,431 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_TRIDIAGONALIZATION_H
-#define EIGEN_TRIDIAGONALIZATION_H
-
-/** \ingroup QR_Module
-  * \nonstableyet
-  *
-  * \class Tridiagonalization
-  *
-  * \brief Trigiagonal decomposition of a selfadjoint matrix
-  *
-  * \param MatrixType the type of the matrix of which we are performing the tridiagonalization
-  *
-  * This class performs a tridiagonal decomposition of a selfadjoint matrix \f$ A \f$ such that:
-  * \f$ A = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real symmetric tridiagonal matrix.
-  *
-  * \sa MatrixBase::tridiagonalize()
-  */
-template<typename _MatrixType> class Tridiagonalization
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename ei_packet_traits<Scalar>::type Packet;
-
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      SizeMinusOne = MatrixType::RowsAtCompileTime==Dynamic
-                   ? Dynamic
-                   : MatrixType::RowsAtCompileTime-1,
-      PacketSize = ei_packet_traits<Scalar>::size
-    };
-
-    typedef Matrix<Scalar, SizeMinusOne, 1> CoeffVectorType;
-    typedef Matrix<RealScalar, Size, 1> DiagonalType;
-    typedef Matrix<RealScalar, SizeMinusOne, 1> SubDiagonalType;
-
-    typedef typename NestByValue<DiagonalCoeffs<MatrixType> >::RealReturnType DiagonalReturnType;
-
-    typedef typename NestByValue<DiagonalCoeffs<
-        NestByValue<Block<MatrixType,SizeMinusOne,SizeMinusOne> > > >::RealReturnType SubDiagonalReturnType;
-
-    /** This constructor initializes a Tridiagonalization object for
-      * further use with Tridiagonalization::compute()
-      */
-    Tridiagonalization(int size = Size==Dynamic ? 2 : Size)
-      : m_matrix(size,size), m_hCoeffs(size-1)
-    {}
-
-    Tridiagonalization(const MatrixType& matrix)
-      : m_matrix(matrix),
-        m_hCoeffs(matrix.cols()-1)
-    {
-      _compute(m_matrix, m_hCoeffs);
-    }
-
-    /** Computes or re-compute the tridiagonalization for the matrix \a matrix.
-      *
-      * This method allows to re-use the allocated data.
-      */
-    void compute(const MatrixType& matrix)
-    {
-      m_matrix = matrix;
-      m_hCoeffs.resize(matrix.rows()-1, 1);
-      _compute(m_matrix, m_hCoeffs);
-    }
-
-    /** \returns the householder coefficients allowing to
-      * reconstruct the matrix Q from the packed data.
-      *
-      * \sa packedMatrix()
-      */
-    inline CoeffVectorType householderCoefficients(void) const { return m_hCoeffs; }
-
-    /** \returns the internal result of the decomposition.
-      *
-      * The returned matrix contains the following information:
-      *  - the strict upper part is equal to the input matrix A
-      *  - the diagonal and lower sub-diagonal represent the tridiagonal symmetric matrix (real).
-      *  - the rest of the lower part contains the Householder vectors that, combined with
-      *    Householder coefficients returned by householderCoefficients(),
-      *    allows to reconstruct the matrix Q as follow:
-      *       Q = H_{N-1} ... H_1 H_0
-      *    where the matrices H are the Householder transformations:
-      *       H_i = (I - h_i * v_i * v_i')
-      *    where h_i == householderCoefficients()[i] and v_i is a Householder vector:
-      *       v_i = [ 0, ..., 0, 1, M(i+2,i), ..., M(N-1,i) ]
-      *
-      * See LAPACK for further details on this packed storage.
-      */
-    inline const MatrixType& packedMatrix(void) const { return m_matrix; }
-
-    MatrixType matrixQ(void) const;
-    MatrixType matrixT(void) const;
-    const DiagonalReturnType diagonal(void) const;
-    const SubDiagonalReturnType subDiagonal(void) const;
-
-    static void decomposeInPlace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ = true);
-
-  private:
-
-    static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs);
-
-    static void _decomposeInPlace3x3(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ = true);
-
-  protected:
-    MatrixType m_matrix;
-    CoeffVectorType m_hCoeffs;
-};
-
-/** \returns an expression of the diagonal vector */
-template<typename MatrixType>
-const typename Tridiagonalization<MatrixType>::DiagonalReturnType
-Tridiagonalization<MatrixType>::diagonal(void) const
-{
-  return m_matrix.diagonal().nestByValue().real();
-}
-
-/** \returns an expression of the sub-diagonal vector */
-template<typename MatrixType>
-const typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
-Tridiagonalization<MatrixType>::subDiagonal(void) const
-{
-  int n = m_matrix.rows();
-  return Block<MatrixType,SizeMinusOne,SizeMinusOne>(m_matrix, 1, 0, n-1,n-1)
-    .nestByValue().diagonal().nestByValue().real();
-}
-
-/** constructs and returns the tridiagonal matrix T.
-  * Note that the matrix T is equivalent to the diagonal and sub-diagonal of the packed matrix.
-  * Therefore, it might be often sufficient to directly use the packed matrix, or the vector
-  * expressions returned by diagonal() and subDiagonal() instead of creating a new matrix.
-  */
-template<typename MatrixType>
-typename Tridiagonalization<MatrixType>::MatrixType
-Tridiagonalization<MatrixType>::matrixT(void) const
-{
-  // FIXME should this function (and other similar ones) rather take a matrix as argument
-  // and fill it ? (to avoid temporaries)
-  int n = m_matrix.rows();
-  MatrixType matT = m_matrix;
-  matT.corner(TopRight,n-1, n-1).diagonal() = subDiagonal().template cast<Scalar>().conjugate();
-  if (n>2)
-  {
-    matT.corner(TopRight,n-2, n-2).template part<UpperTriangular>().setZero();
-    matT.corner(BottomLeft,n-2, n-2).template part<LowerTriangular>().setZero();
-  }
-  return matT;
-}
-
-#ifndef EIGEN_HIDE_HEAVY_CODE
-
-/** \internal
-  * Performs a tridiagonal decomposition of \a matA in place.
-  *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
-  *
-  * The result is written in the lower triangular part of \a matA.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
-  *
-  * \sa packedMatrix()
-  */
-template<typename MatrixType>
-void Tridiagonalization<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs)
-{
-  assert(matA.rows()==matA.cols());
-  int n = matA.rows();
-//   std::cerr << matA << "\n\n";
-  for (int i = 0; i<n-2; ++i)
-  {
-    // let's consider the vector v = i-th column starting at position i+1
-
-    // start of the householder transformation
-    // squared norm of the vector v skipping the first element
-    RealScalar v1norm2 = matA.col(i).end(n-(i+2)).squaredNorm();
-
-    // FIXME comparing against 1
-    if (ei_isMuchSmallerThan(v1norm2,static_cast<Scalar>(1)))
-    {
-      hCoeffs.coeffRef(i) = 0.;
-    }
-    else
-    {
-      Scalar v0 = matA.col(i).coeff(i+1);
-      RealScalar beta = ei_sqrt(ei_abs2(v0)+v1norm2);
-      if (ei_real(v0)>=0.)
-        beta = -beta;
-      matA.col(i).end(n-(i+2)) *= (Scalar(1)/(v0-beta));
-      matA.col(i).coeffRef(i+1) = beta;
-      Scalar h = (beta - v0) / beta;
-      // end of the householder transformation
-
-      // Apply similarity transformation to remaining columns,
-      // i.e., A = H' A H where H = I - h v v' and v = matA.col(i).end(n-i-1)
-
-      matA.col(i).coeffRef(i+1) = 1;
-
-      /* This is the initial algorithm which minimize operation counts and maximize
-       * the use of Eigen's expression. Unfortunately, the first matrix-vector product
-       * using Part<LowerTriangular|Selfadjoint>  is very very slow */
-      #ifdef EIGEN_NEVER_DEFINED
-      // matrix - vector product
-      hCoeffs.end(n-i-1) = (matA.corner(BottomRight,n-i-1,n-i-1).template part<LowerTriangular|SelfAdjoint>()
-                                * (h * matA.col(i).end(n-i-1))).lazy();
-      // simple axpy
-      hCoeffs.end(n-i-1) += (h * Scalar(-0.5) * matA.col(i).end(n-i-1).dot(hCoeffs.end(n-i-1)))
-                            * matA.col(i).end(n-i-1);
-      // rank-2 update
-      //Block<MatrixType,Dynamic,1> B(matA,i+1,i,n-i-1,1);
-      matA.corner(BottomRight,n-i-1,n-i-1).template part<LowerTriangular>() -=
-            (matA.col(i).end(n-i-1) * hCoeffs.end(n-i-1).adjoint()).lazy()
-          + (hCoeffs.end(n-i-1) * matA.col(i).end(n-i-1).adjoint()).lazy();
-      #endif
-      /* end initial algorithm */
-
-      /* If we still want to minimize operation count (i.e., perform operation on the lower part only)
-       * then we could provide the following algorithm for selfadjoint - vector product. However, a full
-       * matrix-vector product is still faster (at least for dynamic size, and not too small, did not check
-       * small matrices). The algo performs block matrix-vector and transposed matrix vector products. */
-      #ifdef EIGEN_NEVER_DEFINED
-      int n4 = (std::max(0,n-4)/4)*4;
-      hCoeffs.end(n-i-1).setZero();
-      for (int b=i+1; b<n4; b+=4)
-      {
-        // the ?x4 part:
-        hCoeffs.end(b-4) +=
-            Block<MatrixType,Dynamic,4>(matA,b+4,b,n-b-4,4) * matA.template block<4,1>(b,i);
-        // the respective transposed part:
-        Block<CoeffVectorType,4,1>(hCoeffs, b, 0, 4,1) +=
-            Block<MatrixType,Dynamic,4>(matA,b+4,b,n-b-4,4).adjoint() * Block<MatrixType,Dynamic,1>(matA,b+4,i,n-b-4,1);
-        // the 4x4 block diagonal:
-        Block<CoeffVectorType,4,1>(hCoeffs, b, 0, 4,1) +=
-            (Block<MatrixType,4,4>(matA,b,b,4,4).template part<LowerTriangular|SelfAdjoint>()
-             * (h * Block<MatrixType,4,1>(matA,b,i,4,1))).lazy();
-      }
-      #endif
-      // todo: handle the remaining part
-      /* end optimized selfadjoint - vector product */
-
-      /* Another interesting note: the above rank-2 update is much slower than the following hand written loop.
-       * After an analyze of the ASM, it seems GCC (4.2) generate poor code because of the Block. Moreover,
-       * if we remove the specialization of Block for Matrix then it is even worse, much worse ! */
-      #ifdef EIGEN_NEVER_DEFINED
-      for (int j1=i+1; j1<n; ++j1)
-      for (int i1=j1;  i1<n; ++i1)
-        matA.coeffRef(i1,j1) -= matA.coeff(i1,i)*ei_conj(hCoeffs.coeff(j1-1))
-                              + hCoeffs.coeff(i1-1)*ei_conj(matA.coeff(j1,i));
-      #endif
-      /* end hand writen partial rank-2 update */
-
-      /* The current fastest implementation: the full matrix is used, no "optimization" to use/compute
-       * only half of the matrix. Custom vectorization of the inner col -= alpha X + beta Y such that access
-       * to col are always aligned. Once we support that in Assign, then the algorithm could be rewriten as
-       * a single compact expression. This code is therefore a good benchmark when will do that. */
-
-      // let's use the end of hCoeffs to store temporary values:
-      hCoeffs.end(n-i-1) = (matA.corner(BottomRight,n-i-1,n-i-1) * (h * matA.col(i).end(n-i-1))).lazy();
-      // FIXME in the above expr a temporary is created because of the scalar multiple by h
-
-      hCoeffs.end(n-i-1) += (h * Scalar(-0.5) * matA.col(i).end(n-i-1).dot(hCoeffs.end(n-i-1)))
-                            * matA.col(i).end(n-i-1);
-
-      const Scalar* EIGEN_RESTRICT pb = &matA.coeffRef(0,i);
-      const Scalar* EIGEN_RESTRICT pa = (&hCoeffs.coeffRef(0)) - 1;
-      for (int j1=i+1; j1<n; ++j1)
-      {
-        int starti = i+1;
-        int alignedEnd = starti;
-        if (PacketSize>1)
-        {
-          int alignedStart = (starti) + ei_alignmentOffset(&matA.coeffRef(starti,j1), n-starti);
-          alignedEnd = alignedStart + ((n-alignedStart)/PacketSize)*PacketSize;
-
-          for (int i1=starti; i1<alignedStart; ++i1)
-            matA.coeffRef(i1,j1) -= matA.coeff(i1,i)*ei_conj(hCoeffs.coeff(j1-1))
-                                  + hCoeffs.coeff(i1-1)*ei_conj(matA.coeff(j1,i));
-
-          Packet tmp0 = ei_pset1(hCoeffs.coeff(j1-1));
-          Packet tmp1 = ei_pset1(matA.coeff(j1,i));
-          Scalar* pc = &matA.coeffRef(0,j1);
-          for (int i1=alignedStart ; i1<alignedEnd; i1+=PacketSize)
-            ei_pstore(pc+i1,ei_psub(ei_pload(pc+i1),
-              ei_padd(ei_pmul(tmp0, ei_ploadu(pb+i1)),
-                      ei_pmul(tmp1, ei_ploadu(pa+i1)))));
-        }
-        for (int i1=alignedEnd; i1<n; ++i1)
-          matA.coeffRef(i1,j1) -= matA.coeff(i1,i)*ei_conj(hCoeffs.coeff(j1-1))
-                                + hCoeffs.coeff(i1-1)*ei_conj(matA.coeff(j1,i));
-      }
-      /* end optimized implementation */
-
-      // note: at that point matA(i+1,i+1) is the (i+1)-th element of the final diagonal
-      // note: the sequence of the beta values leads to the subdiagonal entries
-      matA.col(i).coeffRef(i+1) = beta;
-
-      hCoeffs.coeffRef(i) = h;
-    }
-  }
-  if (NumTraits<Scalar>::IsComplex)
-  {
-    // Householder transformation on the remaining single scalar
-    int i = n-2;
-    Scalar v0 = matA.col(i).coeff(i+1);
-    RealScalar beta = ei_abs(v0);
-    if (ei_real(v0)>=0.)
-      beta = -beta;
-    matA.col(i).coeffRef(i+1) = beta;
-    if(ei_isMuchSmallerThan(beta, Scalar(1))) hCoeffs.coeffRef(i) = Scalar(0);
-    else hCoeffs.coeffRef(i) = (beta - v0) / beta;
-  }
-  else
-  {
-    hCoeffs.coeffRef(n-2) = 0;
-  }
-}
-
-/** reconstructs and returns the matrix Q */
-template<typename MatrixType>
-typename Tridiagonalization<MatrixType>::MatrixType
-Tridiagonalization<MatrixType>::matrixQ(void) const
-{
-  int n = m_matrix.rows();
-  MatrixType matQ = MatrixType::Identity(n,n);
-  for (int i = n-2; i>=0; i--)
-  {
-    Scalar tmp = m_matrix.coeff(i+1,i);
-    m_matrix.const_cast_derived().coeffRef(i+1,i) = 1;
-
-    matQ.corner(BottomRight,n-i-1,n-i-1) -=
-      ((m_hCoeffs.coeff(i) * m_matrix.col(i).end(n-i-1)) *
-      (m_matrix.col(i).end(n-i-1).adjoint() * matQ.corner(BottomRight,n-i-1,n-i-1)).lazy()).lazy();
-
-    m_matrix.const_cast_derived().coeffRef(i+1,i) = tmp;
-  }
-  return matQ;
-}
-
-/** Performs a full decomposition in place */
-template<typename MatrixType>
-void Tridiagonalization<MatrixType>::decomposeInPlace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
-{
-  int n = mat.rows();
-  ei_assert(mat.cols()==n && diag.size()==n && subdiag.size()==n-1);
-  if (n==3 && (!NumTraits<Scalar>::IsComplex) )
-  {
-    _decomposeInPlace3x3(mat, diag, subdiag, extractQ);
-  }
-  else
-  {
-    Tridiagonalization tridiag(mat);
-    diag = tridiag.diagonal();
-    subdiag = tridiag.subDiagonal();
-    if (extractQ)
-      mat = tridiag.matrixQ();
-  }
-}
-
-/** \internal
-  * Optimized path for 3x3 matrices.
-  * Especially useful for plane fitting.
-  */
-template<typename MatrixType>
-void Tridiagonalization<MatrixType>::_decomposeInPlace3x3(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
-{
-  diag[0] = ei_real(mat(0,0));
-  RealScalar v1norm2 = ei_abs2(mat(0,2));
-  if (ei_isMuchSmallerThan(v1norm2, RealScalar(1)))
-  {
-    diag[1] = ei_real(mat(1,1));
-    diag[2] = ei_real(mat(2,2));
-    subdiag[0] = ei_real(mat(0,1));
-    subdiag[1] = ei_real(mat(1,2));
-    if (extractQ)
-      mat.setIdentity();
-  }
-  else
-  {
-    RealScalar beta = ei_sqrt(ei_abs2(mat(0,1))+v1norm2);
-    RealScalar invBeta = RealScalar(1)/beta;
-    Scalar m01 = mat(0,1) * invBeta;
-    Scalar m02 = mat(0,2) * invBeta;
-    Scalar q = RealScalar(2)*m01*mat(1,2) + m02*(mat(2,2) - mat(1,1));
-    diag[1] = ei_real(mat(1,1) + m02*q);
-    diag[2] = ei_real(mat(2,2) - m02*q);
-    subdiag[0] = beta;
-    subdiag[1] = ei_real(mat(1,2) - m01 * q);
-    if (extractQ)
-    {
-      mat(0,0) = 1;
-      mat(0,1) = 0;
-      mat(0,2) = 0;
-      mat(1,0) = 0;
-      mat(1,1) = m01;
-      mat(1,2) = m02;
-      mat(2,0) = 0;
-      mat(2,1) = m02;
-      mat(2,2) = -m01;
-    }
-  }
-}
-
-#endif // EIGEN_HIDE_HEAVY_CODE
-
-#endif // EIGEN_TRIDIAGONALIZATION_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/CholmodSupport.h b/extern/Eigen2/Eigen/src/Sparse/CholmodSupport.h
deleted file mode 100644
index dfd9c787ae9..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/CholmodSupport.h
+++ /dev/null
@@ -1,236 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_CHOLMODSUPPORT_H
-#define EIGEN_CHOLMODSUPPORT_H
-
-template<typename Scalar, typename CholmodType>
-void ei_cholmod_configure_matrix(CholmodType& mat)
-{
-  if (ei_is_same_type<Scalar,float>::ret)
-  {
-    mat.xtype = CHOLMOD_REAL;
-    mat.dtype = 1;
-  }
-  else if (ei_is_same_type<Scalar,double>::ret)
-  {
-    mat.xtype = CHOLMOD_REAL;
-    mat.dtype = 0;
-  }
-  else if (ei_is_same_type<Scalar,std::complex<float> >::ret)
-  {
-    mat.xtype = CHOLMOD_COMPLEX;
-    mat.dtype = 1;
-  }
-  else if (ei_is_same_type<Scalar,std::complex<double> >::ret)
-  {
-    mat.xtype = CHOLMOD_COMPLEX;
-    mat.dtype = 0;
-  }
-  else
-  {
-    ei_assert(false && "Scalar type not supported by CHOLMOD");
-  }
-}
-
-template<typename Derived>
-cholmod_sparse SparseMatrixBase<Derived>::asCholmodMatrix()
-{
-  typedef typename Derived::Scalar Scalar;
-  cholmod_sparse res;
-  res.nzmax   = nonZeros();
-  res.nrow    = rows();;
-  res.ncol    = cols();
-  res.p       = derived()._outerIndexPtr();
-  res.i       = derived()._innerIndexPtr();
-  res.x       = derived()._valuePtr();
-  res.xtype = CHOLMOD_REAL;
-  res.itype = CHOLMOD_INT;
-  res.sorted = 1;
-  res.packed = 1;
-  res.dtype = 0;
-  res.stype = -1;
-
-  ei_cholmod_configure_matrix<Scalar>(res);
-
-  if (Derived::Flags & SelfAdjoint)
-  {
-    if (Derived::Flags & UpperTriangular)
-      res.stype = 1;
-    else if (Derived::Flags & LowerTriangular)
-      res.stype = -1;
-    else
-      res.stype = 0;
-  }
-  else
-    res.stype = 0;
-
-  return res;
-}
-
-template<typename Derived>
-cholmod_dense ei_cholmod_map_eigen_to_dense(MatrixBase<Derived>& mat)
-{
-  EIGEN_STATIC_ASSERT((ei_traits<Derived>::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-  typedef typename Derived::Scalar Scalar;
-
-  cholmod_dense res;
-  res.nrow   = mat.rows();
-  res.ncol   = mat.cols();
-  res.nzmax  = res.nrow * res.ncol;
-  res.d      = mat.derived().stride();
-  res.x      = mat.derived().data();
-  res.z      = 0;
-
-  ei_cholmod_configure_matrix<Scalar>(res);
-
-  return res;
-}
-
-template<typename Scalar, int Flags>
-MappedSparseMatrix<Scalar,Flags>::MappedSparseMatrix(cholmod_sparse& cm)
-{
-  m_innerSize = cm.nrow;
-  m_outerSize = cm.ncol;
-  m_outerIndex = reinterpret_cast<int*>(cm.p);
-  m_innerIndices = reinterpret_cast<int*>(cm.i);
-  m_values = reinterpret_cast<Scalar*>(cm.x);
-  m_nnz = m_outerIndex[cm.ncol];
-}
-
-template<typename MatrixType>
-class SparseLLT<MatrixType,Cholmod> : public SparseLLT<MatrixType>
-{
-  protected:
-    typedef SparseLLT<MatrixType> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    using Base::MatrixLIsDirty;
-    using Base::SupernodalFactorIsDirty;
-    using Base::m_flags;
-    using Base::m_matrix;
-    using Base::m_status;
-
-  public:
-
-    SparseLLT(int flags = 0)
-      : Base(flags), m_cholmodFactor(0)
-    {
-      cholmod_start(&m_cholmod);
-    }
-
-    SparseLLT(const MatrixType& matrix, int flags = 0)
-      : Base(flags), m_cholmodFactor(0)
-    {
-      cholmod_start(&m_cholmod);
-      compute(matrix);
-    }
-
-    ~SparseLLT()
-    {
-      if (m_cholmodFactor)
-        cholmod_free_factor(&m_cholmodFactor, &m_cholmod);
-      cholmod_finish(&m_cholmod);
-    }
-
-    inline const typename Base::CholMatrixType& matrixL(void) const;
-
-    template<typename Derived>
-    void solveInPlace(MatrixBase<Derived> &b) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-    mutable cholmod_common m_cholmod;
-    cholmod_factor* m_cholmodFactor;
-};
-
-template<typename MatrixType>
-void SparseLLT<MatrixType,Cholmod>::compute(const MatrixType& a)
-{
-  if (m_cholmodFactor)
-  {
-    cholmod_free_factor(&m_cholmodFactor, &m_cholmod);
-    m_cholmodFactor = 0;
-  }
-
-  cholmod_sparse A = const_cast<MatrixType&>(a).asCholmodMatrix();
-  m_cholmod.supernodal = CHOLMOD_AUTO;
-  // TODO
-  if (m_flags&IncompleteFactorization)
-  {
-    m_cholmod.nmethods = 1;
-    m_cholmod.method[0].ordering = CHOLMOD_NATURAL;
-    m_cholmod.postorder = 0;
-  }
-  else
-  {
-    m_cholmod.nmethods = 1;
-    m_cholmod.method[0].ordering = CHOLMOD_NATURAL;
-    m_cholmod.postorder = 0;
-  }
-  m_cholmod.final_ll = 1;
-  m_cholmodFactor = cholmod_analyze(&A, &m_cholmod);
-  cholmod_factorize(&A, m_cholmodFactor, &m_cholmod);
-
-  m_status = (m_status & ~SupernodalFactorIsDirty) | MatrixLIsDirty;
-}
-
-template<typename MatrixType>
-inline const typename SparseLLT<MatrixType>::CholMatrixType&
-SparseLLT<MatrixType,Cholmod>::matrixL() const
-{
-  if (m_status & MatrixLIsDirty)
-  {
-    ei_assert(!(m_status & SupernodalFactorIsDirty));
-
-    cholmod_sparse* cmRes = cholmod_factor_to_sparse(m_cholmodFactor, &m_cholmod);
-    const_cast<typename Base::CholMatrixType&>(m_matrix) = MappedSparseMatrix<Scalar>(*cmRes);
-    free(cmRes);
-
-    m_status = (m_status & ~MatrixLIsDirty);
-  }
-  return m_matrix;
-}
-
-template<typename MatrixType>
-template<typename Derived>
-void SparseLLT<MatrixType,Cholmod>::solveInPlace(MatrixBase<Derived> &b) const
-{
-  const int size = m_cholmodFactor->n;
-  ei_assert(size==b.rows());
-
-  // this uses Eigen's triangular sparse solver
-//   if (m_status & MatrixLIsDirty)
-//     matrixL();
-//   Base::solveInPlace(b);
-  // as long as our own triangular sparse solver is not fully optimal,
-  // let's use CHOLMOD's one:
-  cholmod_dense cdb = ei_cholmod_map_eigen_to_dense(b);
-  cholmod_dense* x = cholmod_solve(CHOLMOD_LDLt, m_cholmodFactor, &cdb, &m_cholmod);
-  b = Matrix<typename Base::Scalar,Dynamic,1>::Map(reinterpret_cast<typename Base::Scalar*>(x->x),b.rows());
-  cholmod_free_dense(&x, &m_cholmod);
-}
-
-#endif // EIGEN_CHOLMODSUPPORT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/RandomSetter.h b/extern/Eigen2/Eigen/src/Sparse/RandomSetter.h
deleted file mode 100644
index d908e315f3b..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/RandomSetter.h
+++ /dev/null
@@ -1,330 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_RANDOMSETTER_H
-#define EIGEN_RANDOMSETTER_H
-
-/** Represents a std::map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdMapTraits
-{
-  typedef int KeyType;
-  typedef std::map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 1
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-
-#ifdef EIGEN_UNORDERED_MAP_SUPPORT
-/** Represents a std::unordered_map
-  *
-  * To use it you need to both define EIGEN_UNORDERED_MAP_SUPPORT and include the unordered_map header file
-  * yourself making sure that unordered_map is defined in the std namespace.
-  * 
-  * For instance, with current version of gcc you can either enable C++0x standard (-std=c++0x) or do:
-  * \code
-  * #include <tr1/unordered_map>
-  * #define EIGEN_UNORDERED_MAP_SUPPORT
-  * namespace std {
-  *   using std::tr1::unordered_map;
-  * }
-  * \endcode
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdUnorderedMapTraits
-{
-  typedef int KeyType;
-  typedef std::unordered_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif // EIGEN_UNORDERED_MAP_SUPPORT
-
-#ifdef _DENSE_HASH_MAP_H_
-/** Represents a google::dense_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleDenseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::dense_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type& map, const KeyType& k)
-  { map.set_empty_key(k); }
-};
-#endif
-
-#ifdef _SPARSE_HASH_MAP_H_
-/** Represents a google::sparse_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleSparseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::sparse_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif
-
-/** \class RandomSetter
-  *
-  * \brief The RandomSetter is a wrapper object allowing to set/update a sparse matrix with random access
-  *
-  * \param SparseMatrixType the type of the sparse matrix we are updating
-  * \param MapTraits a traits class representing the map implementation used for the temporary sparse storage.
-  *                  Its default value depends on the system.
-  * \param OuterPacketBits defines the number of rows (or columns) manage by a single map object
-  *                        as a power of two exponent.
-  *
-  * This class temporarily represents a sparse matrix object using a generic map implementation allowing for
-  * efficient random access. The conversion from the compressed representation to a hash_map object is performed
-  * in the RandomSetter constructor, while the sparse matrix is updated back at destruction time. This strategy
-  * suggest the use of nested blocks as in this example:
-  *
-  * \code
-  * SparseMatrix<double> m(rows,cols);
-  * {
-  *   RandomSetter<SparseMatrix<double> > w(m);
-  *   // don't use m but w instead with read/write random access to the coefficients:
-  *   for(;;)
-  *     w(rand(),rand()) = rand;
-  * }
-  * // when w is deleted, the data are copied back to m
-  * // and m is ready to use.
-  * \endcode
-  *
-  * Since hash_map objects are not fully sorted, representing a full matrix as a single hash_map would
-  * involve a big and costly sort to update the compressed matrix back. To overcome this issue, a RandomSetter
-  * use multiple hash_map, each representing 2^OuterPacketBits columns or rows according to the storage order.
-  * To reach optimal performance, this value should be adjusted according to the average number of nonzeros
-  * per rows/columns.
-  *
-  * The possible values for the template parameter MapTraits are:
-  *  - \b StdMapTraits: corresponds to std::map. (does not perform very well)
-  *  - \b GnuHashMapTraits: corresponds to __gnu_cxx::hash_map (available only with GCC)
-  *  - \b GoogleDenseHashMapTraits: corresponds to google::dense_hash_map (best efficiency, reasonable memory consumption)
-  *  - \b GoogleSparseHashMapTraits: corresponds to google::sparse_hash_map (best memory consumption, relatively good performance)
-  *
-  * The default map implementation depends on the availability, and the preferred order is:
-  * GoogleSparseHashMapTraits, GnuHashMapTraits, and finally StdMapTraits.
-  *
-  * For performance and memory consumption reasons it is highly recommended to use one of
-  * the Google's hash_map implementation. To enable the support for them, you have two options:
-  *  - \#include <google/dense_hash_map> yourself \b before Eigen/Sparse header
-  *  - define EIGEN_GOOGLEHASH_SUPPORT
-  * In the later case the inclusion of <google/dense_hash_map> is made for you.
-  * 
-  * \see http://code.google.com/p/google-sparsehash/
-  */
-template<typename SparseMatrixType,
-         template <typename T> class MapTraits =
-#if defined _DENSE_HASH_MAP_H_
-          GoogleDenseHashMapTraits
-#elif defined _HASH_MAP
-          GnuHashMapTraits
-#else
-          StdMapTraits
-#endif
-         ,int OuterPacketBits = 6>
-class RandomSetter
-{
-    typedef typename ei_traits<SparseMatrixType>::Scalar Scalar;
-    struct ScalarWrapper
-    {
-      ScalarWrapper() : value(0) {}
-      Scalar value;
-    };
-    typedef typename MapTraits<ScalarWrapper>::KeyType KeyType;
-    typedef typename MapTraits<ScalarWrapper>::Type HashMapType;
-    static const int OuterPacketMask = (1 << OuterPacketBits) - 1;
-    enum {
-      SwapStorage = 1 - MapTraits<ScalarWrapper>::IsSorted,
-      TargetRowMajor = (SparseMatrixType::Flags & RowMajorBit) ? 1 : 0,
-      SetterRowMajor = SwapStorage ? 1-TargetRowMajor : TargetRowMajor,
-      IsUpperTriangular = SparseMatrixType::Flags & UpperTriangularBit,
-      IsLowerTriangular = SparseMatrixType::Flags & LowerTriangularBit
-    };
-
-  public:
-
-    /** Constructs a random setter object from the sparse matrix \a target
-      *
-      * Note that the initial value of \a target are imported. If you want to re-set
-      * a sparse matrix from scratch, then you must set it to zero first using the
-      * setZero() function.
-      */
-    inline RandomSetter(SparseMatrixType& target)
-      : mp_target(&target)
-    {
-      const int outerSize = SwapStorage ? target.innerSize() : target.outerSize();
-      const int innerSize = SwapStorage ? target.outerSize() : target.innerSize();
-      m_outerPackets = outerSize >> OuterPacketBits;
-      if (outerSize&OuterPacketMask)
-        m_outerPackets += 1;
-      m_hashmaps = new HashMapType[m_outerPackets];
-      // compute number of bits needed to store inner indices
-      int aux = innerSize - 1;
-      m_keyBitsOffset = 0;
-      while (aux)
-      {
-        ++m_keyBitsOffset;
-        aux = aux >> 1;
-      }
-      KeyType ik = (1<<(OuterPacketBits+m_keyBitsOffset));
-      for (int k=0; k<m_outerPackets; ++k)
-        MapTraits<ScalarWrapper>::setInvalidKey(m_hashmaps[k],ik);
-
-      // insert current coeffs
-      for (int j=0; j<mp_target->outerSize(); ++j)
-        for (typename SparseMatrixType::InnerIterator it(*mp_target,j); it; ++it)
-          (*this)(TargetRowMajor?j:it.index(), TargetRowMajor?it.index():j) = it.value();
-    }
-
-    /** Destructor updating back the sparse matrix target */
-    ~RandomSetter()
-    {
-      KeyType keyBitsMask = (1<<m_keyBitsOffset)-1;
-      if (!SwapStorage) // also means the map is sorted
-      {
-        mp_target->startFill(nonZeros());
-        for (int k=0; k<m_outerPackets; ++k)
-        {
-          const int outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const int outer = (it->first >> m_keyBitsOffset) + outerOffset;
-            const int inner = it->first & keyBitsMask;
-            mp_target->fill(TargetRowMajor ? outer : inner, TargetRowMajor ? inner : outer) = it->second.value;
-          }
-        }
-        mp_target->endFill();
-      }
-      else
-      {
-        VectorXi positions(mp_target->outerSize());
-        positions.setZero();
-        // pass 1
-        for (int k=0; k<m_outerPackets; ++k)
-        {
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const int outer = it->first & keyBitsMask;
-            ++positions[outer];
-          }
-        }
-        // prefix sum
-        int count = 0;
-        for (int j=0; j<mp_target->outerSize(); ++j)
-        {
-          int tmp = positions[j];
-          mp_target->_outerIndexPtr()[j] = count;
-          positions[j] = count;
-          count += tmp;
-        }
-        mp_target->_outerIndexPtr()[mp_target->outerSize()] = count;
-        mp_target->resizeNonZeros(count);
-        // pass 2
-        for (int k=0; k<m_outerPackets; ++k)
-        {
-          const int outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const int inner = (it->first >> m_keyBitsOffset) + outerOffset;
-            const int outer = it->first & keyBitsMask;
-            // sorted insertion
-            // Note that we have to deal with at most 2^OuterPacketBits unsorted coefficients,
-            // moreover those 2^OuterPacketBits coeffs are likely to be sparse, an so only a
-            // small fraction of them have to be sorted, whence the following simple procedure:
-            int posStart = mp_target->_outerIndexPtr()[outer];
-            int i = (positions[outer]++) - 1;
-            while ( (i >= posStart) && (mp_target->_innerIndexPtr()[i] > inner) )
-            {
-              mp_target->_valuePtr()[i+1] = mp_target->_valuePtr()[i];
-              mp_target->_innerIndexPtr()[i+1] = mp_target->_innerIndexPtr()[i];
-              --i;
-            }
-            mp_target->_innerIndexPtr()[i+1] = inner;
-            mp_target->_valuePtr()[i+1] = it->second.value;
-          }
-        }
-      }
-      delete[] m_hashmaps;
-    }
-
-    /** \returns a reference to the coefficient at given coordinates \a row, \a col */
-    Scalar& operator() (int row, int col)
-    {
-      ei_assert(((!IsUpperTriangular) || (row<=col)) && "Invalid access to an upper triangular matrix");
-      ei_assert(((!IsLowerTriangular) || (col<=row)) && "Invalid access to an upper triangular matrix");
-      const int outer = SetterRowMajor ? row : col;
-      const int inner = SetterRowMajor ? col : row;
-      const int outerMajor = outer >> OuterPacketBits; // index of the packet/map
-      const int outerMinor = outer & OuterPacketMask;  // index of the inner vector in the packet
-      const KeyType key = (KeyType(outerMinor)<<m_keyBitsOffset) | inner;
-      return m_hashmaps[outerMajor][key].value;
-    }
-
-    /** \returns the number of non zero coefficients 
-      *
-      * \note According to the underlying map/hash_map implementation,
-      * this function might be quite expensive.
-      */
-    int nonZeros() const
-    {
-      int nz = 0;
-      for (int k=0; k<m_outerPackets; ++k)
-        nz += m_hashmaps[k].size();
-      return nz;
-    }
-
-
-  protected:
-
-    HashMapType* m_hashmaps;
-    SparseMatrixType* mp_target;
-    int m_outerPackets;
-    unsigned char m_keyBitsOffset;
-};
-
-#endif // EIGEN_RANDOMSETTER_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseCwise.h b/extern/Eigen2/Eigen/src/Sparse/SparseCwise.h
deleted file mode 100644
index ac285ec1aa3..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseCwise.h
+++ /dev/null
@@ -1,178 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSE_CWISE_H
-#define EIGEN_SPARSE_CWISE_H
-
-/** \internal
-  * convenient macro to defined the return type of a cwise binary operation */
-#define EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
-
-#define EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE \
-    SparseCwiseBinaryOp< \
-      ei_scalar_product_op< \
-        typename ei_scalar_product_traits< \
-          typename ei_traits<ExpressionType>::Scalar, \
-          typename ei_traits<OtherDerived>::Scalar \
-        >::ReturnType \
-      >, \
-      ExpressionType, \
-      OtherDerived \
-    >
-
-/** \internal
-  * convenient macro to defined the return type of a cwise unary operation */
-#define EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(OP) \
-    SparseCwiseUnaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType>
-
-/** \internal
-  * convenient macro to defined the return type of a cwise comparison to a scalar */
-/*#define EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType, \
-        NestByValue<typename ExpressionType::ConstantReturnType> >*/
-
-template<typename ExpressionType> class SparseCwise
-{
-  public:
-
-    typedef typename ei_traits<ExpressionType>::Scalar Scalar;
-    typedef typename ei_meta_if<ei_must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::ret ExpressionTypeNested;
-    typedef CwiseUnaryOp<ei_scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
-
-    inline SparseCwise(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const ExpressionType& _expression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
-    operator*(const SparseMatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-//     template<typename OtherDerived>
-//     const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
-//     operator/(const SparseMatrixBase<OtherDerived> &other) const;
-//
-//     template<typename OtherDerived>
-//     const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
-//     operator/(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)
-    min(const SparseMatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)
-    max(const SparseMatrixBase<OtherDerived> &other) const;
-
-    const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs_op)      abs() const;
-    const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs2_op)     abs2() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_square_op)   square() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_cube_op)     cube() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_inverse_op)  inverse() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_sqrt_op)     sqrt() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_exp_op)      exp() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_log_op)      log() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_cos_op)      cos() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_sin_op)      sin() const;
-//     const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op)      pow(const Scalar& exponent) const;
-
-    template<typename OtherDerived>
-    inline ExpressionType& operator*=(const SparseMatrixBase<OtherDerived> &other);
-
-//     template<typename OtherDerived>
-//     inline ExpressionType& operator/=(const SparseMatrixBase<OtherDerived> &other);
-
-    /*
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-    operator<(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-    operator<=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-    operator>(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-    operator>=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-    operator==(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-    operator!=(const MatrixBase<OtherDerived>& other) const;
-
-    // comparisons to a scalar value
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-    operator<(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-    operator<=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-    operator>(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-    operator>=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-    operator==(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-    operator!=(Scalar s) const;
-    */
-
-    // allow to extend SparseCwise outside Eigen
-    #ifdef EIGEN_SPARSE_CWISE_PLUGIN
-    #include EIGEN_SPARSE_CWISE_PLUGIN
-    #endif
-
-  protected:
-    ExpressionTypeNested m_matrix;
-
-  private:
-    SparseCwise& operator=(const SparseCwise&);
-};
-
-template<typename Derived>
-inline const SparseCwise<Derived>
-SparseMatrixBase<Derived>::cwise() const
-{
-  return derived();
-}
-
-template<typename Derived>
-inline SparseCwise<Derived>
-SparseMatrixBase<Derived>::cwise()
-{
-  return derived();
-}
-
-#endif // EIGEN_SPARSE_CWISE_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseCwiseBinaryOp.h b/extern/Eigen2/Eigen/src/Sparse/SparseCwiseBinaryOp.h
deleted file mode 100644
index da9746e2099..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseCwiseBinaryOp.h
+++ /dev/null
@@ -1,453 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSE_CWISE_BINARY_OP_H
-#define EIGEN_SPARSE_CWISE_BINARY_OP_H
-
-// Here we have to handle 3 cases:
-//  1 - sparse op dense
-//  2 - dense op sparse
-//  3 - sparse op sparse
-// We also need to implement a 4th iterator for:
-//  4 - dense op dense
-// Finally, we also need to distinguish between the product and other operations :
-//                configuration      returned mode
-//  1 - sparse op dense    product      sparse
-//                         generic      dense
-//  2 - dense op sparse    product      sparse
-//                         generic      dense
-//  3 - sparse op sparse   product      sparse
-//                         generic      sparse
-//  4 - dense op dense     product      dense
-//                         generic      dense
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct ei_traits<SparseCwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  typedef typename ei_result_of<
-                     BinaryOp(
-                       typename Lhs::Scalar,
-                       typename Rhs::Scalar
-                     )
-                   >::type Scalar;
-  typedef typename Lhs::Nested LhsNested;
-  typedef typename Rhs::Nested RhsNested;
-  typedef typename ei_unref<LhsNested>::type _LhsNested;
-  typedef typename ei_unref<RhsNested>::type _RhsNested;
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-    RowsAtCompileTime = Lhs::RowsAtCompileTime,
-    ColsAtCompileTime = Lhs::ColsAtCompileTime,
-    MaxRowsAtCompileTime = Lhs::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = Lhs::MaxColsAtCompileTime,
-    Flags = (int(LhsFlags) | int(RhsFlags)) & HereditaryBits,
-    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + ei_functor_traits<BinaryOp>::Cost
-  };
-};
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class SparseCwiseBinaryOp : ei_no_assignment_operator,
-  public SparseMatrixBase<SparseCwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  public:
-
-    class InnerIterator;
-
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseCwiseBinaryOp)
-    typedef typename ei_traits<SparseCwiseBinaryOp>::LhsNested LhsNested;
-    typedef typename ei_traits<SparseCwiseBinaryOp>::RhsNested RhsNested;
-    typedef typename ei_unref<LhsNested>::type _LhsNested;
-    typedef typename ei_unref<RhsNested>::type _RhsNested;
-
-    EIGEN_STRONG_INLINE SparseCwiseBinaryOp(const Lhs& lhs, const Rhs& rhs, const BinaryOp& func = BinaryOp())
-      : m_lhs(lhs), m_rhs(rhs), m_functor(func)
-    {
-      EIGEN_STATIC_ASSERT((_LhsNested::Flags&RowMajorBit)==(_RhsNested::Flags&RowMajorBit),
-        BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER)
-      EIGEN_STATIC_ASSERT((ei_functor_allows_mixing_real_and_complex<BinaryOp>::ret
-                           ? int(ei_is_same_type<typename Lhs::RealScalar, typename Rhs::RealScalar>::ret)
-                           : int(ei_is_same_type<typename Lhs::Scalar, typename Rhs::Scalar>::ret)),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      // require the sizes to match
-      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
-      ei_assert(lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols());
-    }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_lhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-    EIGEN_STRONG_INLINE const BinaryOp& functor() const { return m_functor; }
-
-  protected:
-    const LhsNested m_lhs;
-    const RhsNested m_rhs;
-    const BinaryOp m_functor;
-};
-
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived,
-  int _LhsStorageMode = int(Lhs::Flags) & SparseBit,
-  int _RhsStorageMode = int(Rhs::Flags) & SparseBit>
-class ei_sparse_cwise_binary_op_inner_iterator_selector;
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class SparseCwiseBinaryOp<BinaryOp,Lhs,Rhs>::InnerIterator
-  : public ei_sparse_cwise_binary_op_inner_iterator_selector<BinaryOp,Lhs,Rhs, typename SparseCwiseBinaryOp<BinaryOp,Lhs,Rhs>::InnerIterator>
-{
-  public:
-    typedef ei_sparse_cwise_binary_op_inner_iterator_selector<
-      BinaryOp,Lhs,Rhs, InnerIterator> Base;
-
-    EIGEN_STRONG_INLINE InnerIterator(const SparseCwiseBinaryOp& binOp, int outer)
-      : Base(binOp,outer)
-    {}
-  private:
-    InnerIterator& operator=(const InnerIterator&);
-};
-
-/***************************************************************************
-* Implementation of inner-iterators
-***************************************************************************/
-
-// template<typename T> struct ei_func_is_conjunction { enum { ret = false }; };
-// template<typename T> struct ei_func_is_conjunction<ei_scalar_product_op<T> > { enum { ret = true }; };
-
-// TODO generalize the ei_scalar_product_op specialization to all conjunctions if any !
-
-// sparse - sparse  (generic)
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived>
-class ei_sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived, IsSparse, IsSparse>
-{
-    typedef SparseCwiseBinaryOp<BinaryOp, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename ei_traits<CwiseBinaryXpr>::Scalar Scalar;
-    typedef typename ei_traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename ei_traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-  public:
-
-    EIGEN_STRONG_INLINE ei_sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, int outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
-    {
-      this->operator++();
-    }
-
-    EIGEN_STRONG_INLINE Derived& operator++()
-    {
-      if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
-      {
-        m_id = m_lhsIter.index();
-        m_value = m_functor(m_lhsIter.value(), m_rhsIter.value());
-        ++m_lhsIter;
-        ++m_rhsIter;
-      }
-      else if (m_lhsIter && (!m_rhsIter || (m_lhsIter.index() < m_rhsIter.index())))
-      {
-        m_id = m_lhsIter.index();
-        m_value = m_functor(m_lhsIter.value(), Scalar(0));
-        ++m_lhsIter;
-      }
-      else if (m_rhsIter && (!m_lhsIter || (m_lhsIter.index() > m_rhsIter.index())))
-      {
-        m_id = m_rhsIter.index();
-        m_value = m_functor(Scalar(0), m_rhsIter.value());
-        ++m_rhsIter;
-      }
-      else
-      {
-        m_id = -1;
-      }
-      return *static_cast<Derived*>(this);
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
-
-    EIGEN_STRONG_INLINE int index() const { return m_id; }
-    EIGEN_STRONG_INLINE int row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE int col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_id>=0; }
-
-  protected:
-    LhsIterator m_lhsIter;
-    RhsIterator m_rhsIter;
-    const BinaryOp& m_functor;
-    Scalar m_value;
-    int m_id;
-
-  private:
-    ei_sparse_cwise_binary_op_inner_iterator_selector& operator=(const ei_sparse_cwise_binary_op_inner_iterator_selector&);
-};
-
-// sparse - sparse  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class ei_sparse_cwise_binary_op_inner_iterator_selector<ei_scalar_product_op<T>, Lhs, Rhs, Derived, IsSparse, IsSparse>
-{
-    typedef ei_scalar_product_op<T> BinaryFunc;
-    typedef SparseCwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename ei_traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename ei_traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-  public:
-
-    EIGEN_STRONG_INLINE ei_sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, int outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
-    {
-      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
-      {
-        if (m_lhsIter.index() < m_rhsIter.index())
-          ++m_lhsIter;
-        else
-          ++m_rhsIter;
-      }
-    }
-
-    EIGEN_STRONG_INLINE Derived& operator++()
-    {
-      ++m_lhsIter;
-      ++m_rhsIter;
-      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
-      {
-        if (m_lhsIter.index() < m_rhsIter.index())
-          ++m_lhsIter;
-        else
-          ++m_rhsIter;
-      }
-      return *static_cast<Derived*>(this);
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
-
-    EIGEN_STRONG_INLINE int index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE int row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE int col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return (m_lhsIter && m_rhsIter); }
-
-  protected:
-    LhsIterator m_lhsIter;
-    RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
-
-  private:
-    ei_sparse_cwise_binary_op_inner_iterator_selector& operator=(const ei_sparse_cwise_binary_op_inner_iterator_selector&);
-};
-
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class ei_sparse_cwise_binary_op_inner_iterator_selector<ei_scalar_product_op<T>, Lhs, Rhs, Derived, IsSparse, IsDense>
-{
-    typedef ei_scalar_product_op<T> BinaryFunc;
-    typedef SparseCwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename ei_traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename ei_traits<CwiseBinaryXpr>::RhsNested RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
-
-    EIGEN_STRONG_INLINE ei_sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, int outer)
-      : m_rhs(xpr.rhs()), m_lhsIter(xpr.lhs(),outer), m_functor(xpr.functor()), m_outer(outer)
-    {}
-
-    EIGEN_STRONG_INLINE Derived& operator++()
-    {
-      ++m_lhsIter;
-      return *static_cast<Derived*>(this);
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_lhsIter.value(),
-                       m_rhs.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
-
-    EIGEN_STRONG_INLINE int index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE int row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE int col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
-
-  protected:
-    const RhsNested m_rhs;
-    LhsIterator m_lhsIter;
-    const BinaryFunc m_functor;
-    const int m_outer;
-
-  private:
-    ei_sparse_cwise_binary_op_inner_iterator_selector& operator=(const ei_sparse_cwise_binary_op_inner_iterator_selector&);
-};
-
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class ei_sparse_cwise_binary_op_inner_iterator_selector<ei_scalar_product_op<T>, Lhs, Rhs, Derived, IsDense, IsSparse>
-{
-    typedef ei_scalar_product_op<T> BinaryFunc;
-    typedef SparseCwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename ei_traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
-
-    EIGEN_STRONG_INLINE ei_sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, int outer)
-      : m_xpr(xpr), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor()), m_outer(outer)
-    {}
-
-    EIGEN_STRONG_INLINE Derived& operator++()
-    {
-      ++m_rhsIter;
-      return *static_cast<Derived*>(this);
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_xpr.lhs().coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
-
-    EIGEN_STRONG_INLINE int index() const { return m_rhsIter.index(); }
-    EIGEN_STRONG_INLINE int row() const { return m_rhsIter.row(); }
-    EIGEN_STRONG_INLINE int col() const { return m_rhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
-
-  protected:
-    const CwiseBinaryXpr& m_xpr;
-    RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
-    const int m_outer;
-};
-
-
-/***************************************************************************
-* Implementation of SparseMatrixBase and SparseCwise functions/operators
-***************************************************************************/
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const SparseCwiseBinaryOp<ei_scalar_difference_op<typename ei_traits<Derived>::Scalar>,
-                                 Derived, OtherDerived>
-SparseMatrixBase<Derived>::operator-(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return SparseCwiseBinaryOp<ei_scalar_difference_op<Scalar>,
-                       Derived, OtherDerived>(derived(), other.derived());
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-SparseMatrixBase<Derived>::operator-=(const SparseMatrixBase<OtherDerived> &other)
-{
-  return *this = derived() - other.derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const SparseCwiseBinaryOp<ei_scalar_sum_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-SparseMatrixBase<Derived>::operator+(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return SparseCwiseBinaryOp<ei_scalar_sum_op<Scalar>, Derived, OtherDerived>(derived(), other.derived());
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& other)
-{
-  return *this = derived() + other.derived();
-}
-
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
-SparseCwise<ExpressionType>::operator*(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(_expression(), other.derived());
-}
-
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
-SparseCwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(_expression(), other.derived());
-}
-
-// template<typename ExpressionType>
-// template<typename OtherDerived>
-// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
-// SparseCwise<ExpressionType>::operator/(const SparseMatrixBase<OtherDerived> &other) const
-// {
-//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)(_expression(), other.derived());
-// }
-//
-// template<typename ExpressionType>
-// template<typename OtherDerived>
-// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
-// SparseCwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
-// {
-//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)(_expression(), other.derived());
-// }
-
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& SparseCwise<ExpressionType>::operator*=(const SparseMatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = _expression() * other.derived();
-}
-
-// template<typename ExpressionType>
-// template<typename OtherDerived>
-// inline ExpressionType& SparseCwise<ExpressionType>::operator/=(const SparseMatrixBase<OtherDerived> &other)
-// {
-//   return m_matrix.const_cast_derived() = *this / other;
-// }
-
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)
-SparseCwise<ExpressionType>::min(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)(_expression(), other.derived());
-}
-
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)
-SparseCwise<ExpressionType>::max(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)(_expression(), other.derived());
-}
-
-// template<typename Derived>
-// template<typename CustomBinaryOp, typename OtherDerived>
-// EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
-// SparseMatrixBase<Derived>::binaryExpr(const SparseMatrixBase<OtherDerived> &other, const CustomBinaryOp& func) const
-// {
-//   return CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>(derived(), other.derived(), func);
-// }
-
-#endif // EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseCwiseUnaryOp.h b/extern/Eigen2/Eigen/src/Sparse/SparseCwiseUnaryOp.h
deleted file mode 100644
index 2ed7a15579f..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseCwiseUnaryOp.h
+++ /dev/null
@@ -1,186 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSE_CWISE_UNARY_OP_H
-#define EIGEN_SPARSE_CWISE_UNARY_OP_H
-
-template<typename UnaryOp, typename MatrixType>
-struct ei_traits<SparseCwiseUnaryOp<UnaryOp, MatrixType> > : ei_traits<MatrixType>
-{
-  typedef typename ei_result_of<
-                     UnaryOp(typename MatrixType::Scalar)
-                   >::type Scalar;
-  typedef typename MatrixType::Nested MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost + ei_functor_traits<UnaryOp>::Cost
-  };
-};
-
-template<typename UnaryOp, typename MatrixType>
-class SparseCwiseUnaryOp : ei_no_assignment_operator,
-  public SparseMatrixBase<SparseCwiseUnaryOp<UnaryOp, MatrixType> >
-{
-  public:
-
-    class InnerIterator;
-//     typedef typename ei_unref<LhsNested>::type _LhsNested;
-
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseCwiseUnaryOp)
-
-    inline SparseCwiseUnaryOp(const MatrixType& mat, const UnaryOp& func = UnaryOp())
-      : m_matrix(mat), m_functor(func) {}
-
-    EIGEN_STRONG_INLINE int rows() const { return m_matrix.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_matrix.cols(); }
-
-//     EIGEN_STRONG_INLINE const typename MatrixType::Nested& _matrix() const { return m_matrix; }
-//     EIGEN_STRONG_INLINE const UnaryOp& _functor() const { return m_functor; }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-    const UnaryOp m_functor;
-};
-
-
-template<typename UnaryOp, typename MatrixType>
-class SparseCwiseUnaryOp<UnaryOp,MatrixType>::InnerIterator
-{
-    typedef typename SparseCwiseUnaryOp::Scalar Scalar;
-    typedef typename ei_traits<SparseCwiseUnaryOp>::_MatrixTypeNested _MatrixTypeNested;
-    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const SparseCwiseUnaryOp& unaryOp, int outer)
-      : m_iter(unaryOp.m_matrix,outer), m_functor(unaryOp.m_functor)
-    {}
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    { ++m_iter; return *this; }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_iter.value()); }
-
-    EIGEN_STRONG_INLINE int index() const { return m_iter.index(); }
-    EIGEN_STRONG_INLINE int row() const { return m_iter.row(); }
-    EIGEN_STRONG_INLINE int col() const { return m_iter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
-
-  protected:
-    MatrixTypeIterator m_iter;
-    const UnaryOp m_functor;
-
-  private:
-    InnerIterator& operator=(const InnerIterator&);
-};
-
-template<typename Derived>
-template<typename CustomUnaryOp>
-EIGEN_STRONG_INLINE const SparseCwiseUnaryOp<CustomUnaryOp, Derived>
-SparseMatrixBase<Derived>::unaryExpr(const CustomUnaryOp& func) const
-{
-  return SparseCwiseUnaryOp<CustomUnaryOp, Derived>(derived(), func);
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE const SparseCwiseUnaryOp<ei_scalar_opposite_op<typename ei_traits<Derived>::Scalar>,Derived>
-SparseMatrixBase<Derived>::operator-() const
-{
-  return derived();
-}
-
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs_op)
-SparseCwise<ExpressionType>::abs() const
-{
-  return _expression();
-}
-
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs2_op)
-SparseCwise<ExpressionType>::abs2() const
-{
-  return _expression();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE typename SparseMatrixBase<Derived>::ConjugateReturnType
-SparseMatrixBase<Derived>::conjugate() const
-{
-  return ConjugateReturnType(derived());
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename SparseMatrixBase<Derived>::RealReturnType
-SparseMatrixBase<Derived>::real() const { return derived(); }
-
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename SparseMatrixBase<Derived>::ImagReturnType
-SparseMatrixBase<Derived>::imag() const { return derived(); }
-
-template<typename Derived>
-template<typename NewType>
-EIGEN_STRONG_INLINE const SparseCwiseUnaryOp<ei_scalar_cast_op<typename ei_traits<Derived>::Scalar, NewType>, Derived>
-SparseMatrixBase<Derived>::cast() const
-{
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE const SparseCwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<Derived>::Scalar>, Derived>
-SparseMatrixBase<Derived>::operator*(const Scalar& scalar) const
-{
-  return SparseCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, Derived>
-    (derived(), ei_scalar_multiple_op<Scalar>(scalar));
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE const SparseCwiseUnaryOp<ei_scalar_quotient1_op<typename ei_traits<Derived>::Scalar>, Derived>
-SparseMatrixBase<Derived>::operator/(const Scalar& scalar) const
-{
-  return SparseCwiseUnaryOp<ei_scalar_quotient1_op<Scalar>, Derived>
-    (derived(), ei_scalar_quotient1_op<Scalar>(scalar));
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-SparseMatrixBase<Derived>::operator*=(const Scalar& other)
-{
-  for (int j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
-      i.valueRef() *= other;
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-SparseMatrixBase<Derived>::operator/=(const Scalar& other)
-{
-  for (int j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
-      i.valueRef() /= other;
-  return derived();
-}
-
-#endif // EIGEN_SPARSE_CWISE_UNARY_OP_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseDiagonalProduct.h b/extern/Eigen2/Eigen/src/Sparse/SparseDiagonalProduct.h
deleted file mode 100644
index 9b7432a8216..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseDiagonalProduct.h
+++ /dev/null
@@ -1,159 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSE_DIAGONAL_PRODUCT_H
-#define EIGEN_SPARSE_DIAGONAL_PRODUCT_H
-
-// the product a diagonal matrix with a sparse matrix can be easily
-// implemented using expression template. We have two very different cases:
-// 1 - diag * row-major sparse
-//     => each inner vector <=> scalar * sparse vector product
-//     => so we can reuse CwiseUnaryOp::InnerIterator
-// 2 - diag * col-major sparse
-//     => each inner vector <=> densevector * sparse vector cwise product
-//     => again, we can reuse specialization of CwiseBinaryOp::InnerIterator
-//        for that particular case
-// The two other cases are symmetric.
-
-template<typename Lhs, typename Rhs>
-struct ei_traits<SparseDiagonalProduct<Lhs, Rhs> > : ei_traits<SparseProduct<Lhs, Rhs, DiagonalProduct> >
-{
-  typedef typename ei_cleantype<Lhs>::type _Lhs;
-  typedef typename ei_cleantype<Rhs>::type _Rhs;
-  enum {
-    SparseFlags = ((int(_Lhs::Flags)&Diagonal)==Diagonal) ? int(_Rhs::Flags) : int(_Lhs::Flags),
-    Flags = SparseBit | (SparseFlags&RowMajorBit)
-  };
-};
-
-enum {SDP_IsDiagonal, SDP_IsSparseRowMajor, SDP_IsSparseColMajor};
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType, int RhsMode, int LhsMode> 
-class ei_sparse_diagonal_product_inner_iterator_selector;
-
-template<typename LhsNested, typename RhsNested>
-class SparseDiagonalProduct : public SparseMatrixBase<SparseDiagonalProduct<LhsNested,RhsNested> >, ei_no_assignment_operator
-{
-    typedef typename ei_traits<SparseDiagonalProduct>::_LhsNested _LhsNested;
-    typedef typename ei_traits<SparseDiagonalProduct>::_RhsNested _RhsNested;
-    
-    enum {
-      LhsMode = (_LhsNested::Flags&Diagonal)==Diagonal ? SDP_IsDiagonal
-              : (_LhsNested::Flags&RowMajorBit) ? SDP_IsSparseRowMajor : SDP_IsSparseColMajor,
-      RhsMode = (_RhsNested::Flags&Diagonal)==Diagonal ? SDP_IsDiagonal
-              : (_RhsNested::Flags&RowMajorBit) ? SDP_IsSparseRowMajor : SDP_IsSparseColMajor
-    };
-
-  public:
-
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseDiagonalProduct)
-    
-    typedef ei_sparse_diagonal_product_inner_iterator_selector
-                <_LhsNested,_RhsNested,SparseDiagonalProduct,LhsMode,RhsMode> InnerIterator;
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseDiagonalProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      ei_assert(lhs.cols() == rhs.rows() && "invalid sparse matrix * diagonal matrix product");
-    }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class ei_sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseRowMajor>
-  : public SparseCwiseUnaryOp<ei_scalar_multiple_op<typename Lhs::Scalar>,Rhs>::InnerIterator
-{
-    typedef typename SparseCwiseUnaryOp<ei_scalar_multiple_op<typename Lhs::Scalar>,Rhs>::InnerIterator Base;
-  public:
-    inline ei_sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, int outer)
-      : Base(expr.rhs()*(expr.lhs().diagonal().coeff(outer)), outer)
-    {}
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class ei_sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseColMajor>
-  : public SparseCwiseBinaryOp<
-      ei_scalar_product_op<typename Lhs::Scalar>,
-      SparseInnerVectorSet<Rhs,1>,
-      typename Lhs::_CoeffsVectorType>::InnerIterator
-{
-    typedef typename SparseCwiseBinaryOp<
-      ei_scalar_product_op<typename Lhs::Scalar>,
-      SparseInnerVectorSet<Rhs,1>,
-      typename Lhs::_CoeffsVectorType>::InnerIterator Base;
-  public:
-    inline ei_sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, int outer)
-      : Base(expr.rhs().innerVector(outer) .cwise()* expr.lhs().diagonal(), 0)
-    {}
-  private:
-    ei_sparse_diagonal_product_inner_iterator_selector& operator=(const ei_sparse_diagonal_product_inner_iterator_selector&);
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class ei_sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseColMajor,SDP_IsDiagonal>
-  : public SparseCwiseUnaryOp<ei_scalar_multiple_op<typename Rhs::Scalar>,Lhs>::InnerIterator
-{
-    typedef typename SparseCwiseUnaryOp<ei_scalar_multiple_op<typename Rhs::Scalar>,Lhs>::InnerIterator Base;
-  public:
-    inline ei_sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, int outer)
-      : Base(expr.lhs()*expr.rhs().diagonal().coeff(outer), outer)
-    {}
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class ei_sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseRowMajor,SDP_IsDiagonal>
-  : public SparseCwiseBinaryOp<
-      ei_scalar_product_op<typename Rhs::Scalar>,
-      SparseInnerVectorSet<Lhs,1>,
-      NestByValue<Transpose<typename Rhs::_CoeffsVectorType> > >::InnerIterator
-{
-    typedef typename SparseCwiseBinaryOp<
-      ei_scalar_product_op<typename Rhs::Scalar>,
-      SparseInnerVectorSet<Lhs,1>,
-      NestByValue<Transpose<typename Rhs::_CoeffsVectorType> > >::InnerIterator Base;
-  public:
-    inline ei_sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, int outer)
-      : Base(expr.lhs().innerVector(outer) .cwise()* expr.rhs().diagonal().transpose().nestByValue(), 0)
-    {}
-};
-
-#endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseFlagged.h b/extern/Eigen2/Eigen/src/Sparse/SparseFlagged.h
deleted file mode 100644
index 315ec4af39f..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseFlagged.h
+++ /dev/null
@@ -1,102 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSE_FLAGGED_H
-#define EIGEN_SPARSE_FLAGGED_H
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-struct ei_traits<SparseFlagged<ExpressionType, Added, Removed> > : ei_traits<ExpressionType>
-{
-  enum { Flags = (ExpressionType::Flags | Added) & ~Removed };
-};
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed> class SparseFlagged
-  : public SparseMatrixBase<SparseFlagged<ExpressionType, Added, Removed> >
-{
-  public:
-
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseFlagged)
-    class InnerIterator;
-    class ReverseInnerIterator;
-    
-    typedef typename ei_meta_if<ei_must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::ret ExpressionTypeNested;
-
-    inline SparseFlagged(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-    
-    // FIXME should be keep them ?
-    inline Scalar& coeffRef(int row, int col)
-    { return m_matrix.const_cast_derived().coeffRef(col, row); }
-
-    inline const Scalar coeff(int row, int col) const
-    { return m_matrix.coeff(col, row); }
-
-    inline const Scalar coeff(int index) const
-    { return m_matrix.coeff(index); }
-
-    inline Scalar& coeffRef(int index)
-    { return m_matrix.const_cast_derived().coeffRef(index); }
-
-  protected:
-    ExpressionTypeNested m_matrix;
-
-  private:
-    SparseFlagged& operator=(const SparseFlagged&);
-};
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-  class SparseFlagged<ExpressionType,Added,Removed>::InnerIterator : public ExpressionType::InnerIterator
-{
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const SparseFlagged& xpr, int outer)
-      : ExpressionType::InnerIterator(xpr.m_matrix, outer)
-    {}
-
-  private:
-    InnerIterator& operator=(const InnerIterator&);
-};
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-  class SparseFlagged<ExpressionType,Added,Removed>::ReverseInnerIterator : public ExpressionType::ReverseInnerIterator
-{
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const SparseFlagged& xpr, int outer)
-      : ExpressionType::ReverseInnerIterator(xpr.m_matrix, outer)
-    {}
-};
-
-template<typename Derived>
-template<unsigned int Added>
-inline const SparseFlagged<Derived, Added, 0>
-SparseMatrixBase<Derived>::marked() const
-{
-  return derived();
-}
-
-#endif // EIGEN_SPARSE_FLAGGED_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseLDLT.h b/extern/Eigen2/Eigen/src/Sparse/SparseLDLT.h
deleted file mode 100644
index a1bac4d084d..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseLDLT.h
+++ /dev/null
@@ -1,346 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-/*
-
-NOTE: the _symbolic, and _numeric functions has been adapted from
-      the LDL library:
-
-LDL Copyright (c) 2005 by Timothy A. Davis.  All Rights Reserved.
-
-LDL License:
-
-    Your use or distribution of LDL or any modified version of
-    LDL implies that you agree to this License.
-
-    This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
-
-    You should have received a copy of the GNU Lesser General Public
-    License along with this library; if not, write to the Free Software
-    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301
-    USA
-
-    Permission is hereby granted to use or copy this program under the
-    terms of the GNU LGPL, provided that the Copyright, this License,
-    and the Availability of the original version is retained on all copies.
-    User documentation of any code that uses this code or any modified
-    version of this code must cite the Copyright, this License, the
-    Availability note, and "Used by permission." Permission to modify
-    the code and to distribute modified code is granted, provided the
-    Copyright, this License, and the Availability note are retained,
-    and a notice that the code was modified is included.
- */
-
-#ifndef EIGEN_SPARSELDLT_H
-#define EIGEN_SPARSELDLT_H
-
-/** \ingroup Sparse_Module
-  *
-  * \class SparseLDLT
-  *
-  * \brief LDLT Cholesky decomposition of a sparse matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LDLT Cholesky decomposition
-  *
-  * \sa class LDLT, class LDLT
-  */
-template<typename MatrixType, int Backend = DefaultBackend>
-class SparseLDLT
-{
-  protected:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef SparseMatrix<Scalar,LowerTriangular|UnitDiagBit> CholMatrixType;
-    typedef Matrix<Scalar,MatrixType::ColsAtCompileTime,1> VectorType;
-
-    enum {
-      SupernodalFactorIsDirty      = 0x10000,
-      MatrixLIsDirty               = 0x20000
-    };
-
-  public:
-
-    /** Creates a dummy LDLT factorization object with flags \a flags. */
-    SparseLDLT(int flags = 0)
-      : m_flags(flags), m_status(0)
-    {
-      ei_assert((MatrixType::Flags&RowMajorBit)==0);
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-    }
-
-    /** Creates a LDLT object and compute the respective factorization of \a matrix using
-      * flags \a flags. */
-    SparseLDLT(const MatrixType& matrix, int flags = 0)
-      : m_matrix(matrix.rows(), matrix.cols()), m_flags(flags), m_status(0)
-    {
-      ei_assert((MatrixType::Flags&RowMajorBit)==0);
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-      compute(matrix);
-    }
-
-    /** Sets the relative threshold value used to prune zero coefficients during the decomposition.
-      *
-      * Setting a value greater than zero speeds up computation, and yields to an imcomplete
-      * factorization with fewer non zero coefficients. Such approximate factors are especially
-      * useful to initialize an iterative solver.
-      *
-      * \warning if precision is greater that zero, the LDLT factorization is not guaranteed to succeed
-      * even if the matrix is positive definite.
-      *
-      * Note that the exact meaning of this parameter might depends on the actual
-      * backend. Moreover, not all backends support this feature.
-      *
-      * \sa precision() */
-    void setPrecision(RealScalar v) { m_precision = v; }
-
-    /** \returns the current precision.
-      *
-      * \sa setPrecision() */
-    RealScalar precision() const { return m_precision; }
-
-    /** Sets the flags. Possible values are:
-      *  - CompleteFactorization
-      *  - IncompleteFactorization
-      *  - MemoryEfficient          (hint to use the memory most efficient method offered by the backend)
-      *  - SupernodalMultifrontal   (implies a complete factorization if supported by the backend,
-      *                              overloads the MemoryEfficient flags)
-      *  - SupernodalLeftLooking    (implies a complete factorization  if supported by the backend,
-      *                              overloads the MemoryEfficient flags)
-      *
-      * \sa flags() */
-    void settagss(int f) { m_flags = f; }
-    /** \returns the current flags */
-    int flags() const { return m_flags; }
-
-    /** Computes/re-computes the LDLT factorization */
-    void compute(const MatrixType& matrix);
-
-    /** Perform a symbolic factorization */
-    void _symbolic(const MatrixType& matrix);
-    /** Perform the actual factorization using the previously
-      * computed symbolic factorization */
-    bool _numeric(const MatrixType& matrix);
-
-    /** \returns the lower triangular matrix L */
-    inline const CholMatrixType& matrixL(void) const { return m_matrix; }
-
-    /** \returns the coefficients of the diagonal matrix D */
-    inline VectorType vectorD(void) const { return m_diag; }
-
-    template<typename Derived>
-    bool solveInPlace(MatrixBase<Derived> &b) const;
-
-    /** \returns true if the factorization succeeded */
-    inline bool succeeded(void) const { return m_succeeded; }
-
-  protected:
-    CholMatrixType m_matrix;
-    VectorType m_diag;
-    VectorXi m_parent; // elimination tree
-    VectorXi m_nonZerosPerCol;
-//     VectorXi m_w; // workspace
-    RealScalar m_precision;
-    int m_flags;
-    mutable int m_status;
-    bool m_succeeded;
-};
-
-/** Computes / recomputes the LDLT decomposition of matrix \a a
-  * using the default algorithm.
-  */
-template<typename MatrixType, int Backend>
-void SparseLDLT<MatrixType,Backend>::compute(const MatrixType& a)
-{
-  _symbolic(a);
-  m_succeeded = _numeric(a);
-}
-
-template<typename MatrixType, int Backend>
-void SparseLDLT<MatrixType,Backend>::_symbolic(const MatrixType& a)
-{
-  assert(a.rows()==a.cols());
-  const int size = a.rows();
-  m_matrix.resize(size, size);
-  m_parent.resize(size);
-  m_nonZerosPerCol.resize(size);
-  int * tags = ei_aligned_stack_new(int, size);
-
-  const int* Ap = a._outerIndexPtr();
-  const int* Ai = a._innerIndexPtr();
-  int* Lp = m_matrix._outerIndexPtr();
-  const int* P = 0;
-  int* Pinv = 0;
-
-  if (P)
-  {
-    /* If P is present then compute Pinv, the inverse of P */
-    for (int k = 0; k < size; ++k)
-      Pinv[P[k]] = k;
-  }
-  for (int k = 0; k < size; ++k)
-  {
-    /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */
-    m_parent[k] = -1;             /* parent of k is not yet known */
-    tags[k] = k;                  /* mark node k as visited */
-    m_nonZerosPerCol[k] = 0;      /* count of nonzeros in column k of L */
-    int kk = P ? P[k] : k;  /* kth original, or permuted, column */
-    int p2 = Ap[kk+1];
-    for (int p = Ap[kk]; p < p2; ++p)
-    {
-      /* A (i,k) is nonzero (original or permuted A) */
-      int i = Pinv ? Pinv[Ai[p]] : Ai[p];
-      if (i < k)
-      {
-        /* follow path from i to root of etree, stop at flagged node */
-        for (; tags[i] != k; i = m_parent[i])
-        {
-          /* find parent of i if not yet determined */
-          if (m_parent[i] == -1)
-            m_parent[i] = k;
-          ++m_nonZerosPerCol[i];        /* L (k,i) is nonzero */
-          tags[i] = k;                  /* mark i as visited */
-        }
-      }
-    }
-  }
-  /* construct Lp index array from m_nonZerosPerCol column counts */
-  Lp[0] = 0;
-  for (int k = 0; k < size; ++k)
-    Lp[k+1] = Lp[k] + m_nonZerosPerCol[k];
-
-  m_matrix.resizeNonZeros(Lp[size]);
-  ei_aligned_stack_delete(int, tags, size);
-}
-
-template<typename MatrixType, int Backend>
-bool SparseLDLT<MatrixType,Backend>::_numeric(const MatrixType& a)
-{
-  assert(a.rows()==a.cols());
-  const int size = a.rows();
-  assert(m_parent.size()==size);
-  assert(m_nonZerosPerCol.size()==size);
-
-  const int* Ap = a._outerIndexPtr();
-  const int* Ai = a._innerIndexPtr();
-  const Scalar* Ax = a._valuePtr();
-  const int* Lp = m_matrix._outerIndexPtr();
-  int* Li = m_matrix._innerIndexPtr();
-  Scalar* Lx = m_matrix._valuePtr();
-  m_diag.resize(size);
-
-  Scalar * y = ei_aligned_stack_new(Scalar, size);
-  int * pattern = ei_aligned_stack_new(int, size);
-  int * tags = ei_aligned_stack_new(int, size);
-
-  const int* P = 0;
-  const int* Pinv = 0;
-  bool ok = true;
-
-  for (int k = 0; k < size; ++k)
-  {
-    /* compute nonzero pattern of kth row of L, in topological order */
-    y[k] = 0.0;                   /* Y(0:k) is now all zero */
-    int top = size;               /* stack for pattern is empty */
-    tags[k] = k;                  /* mark node k as visited */
-    m_nonZerosPerCol[k] = 0;      /* count of nonzeros in column k of L */
-    int kk = (P) ? (P[k]) : (k);  /* kth original, or permuted, column */
-    int p2 = Ap[kk+1];
-    for (int p = Ap[kk]; p < p2; ++p)
-    {
-      int i = Pinv ? Pinv[Ai[p]] : Ai[p]; /* get A(i,k) */
-      if (i <= k)
-      {
-        y[i] += Ax[p];            /* scatter A(i,k) into Y (sum duplicates) */
-        int len;
-        for (len = 0; tags[i] != k; i = m_parent[i])
-        {
-          pattern[len++] = i;     /* L(k,i) is nonzero */
-          tags[i] = k;            /* mark i as visited */
-        }
-        while (len > 0)
-          pattern[--top] = pattern[--len];
-      }
-    }
-    /* compute numerical values kth row of L (a sparse triangular solve) */
-    m_diag[k] = y[k];                       /* get D(k,k) and clear Y(k) */
-    y[k] = 0.0;
-    for (; top < size; ++top)
-    {
-      int i = pattern[top];      /* pattern[top:n-1] is pattern of L(:,k) */
-      Scalar yi = y[i];          /* get and clear Y(i) */
-      y[i] = 0.0;
-      int p2 = Lp[i] + m_nonZerosPerCol[i];
-      int p;
-      for (p = Lp[i]; p < p2; ++p)
-        y[Li[p]] -= Lx[p] * yi;
-      Scalar l_ki = yi / m_diag[i];       /* the nonzero entry L(k,i) */
-      m_diag[k] -= l_ki * yi;
-      Li[p] = k;                          /* store L(k,i) in column form of L */
-      Lx[p] = l_ki;
-      ++m_nonZerosPerCol[i];              /* increment count of nonzeros in col i */
-    }
-    if (m_diag[k] == 0.0)
-    {
-      ok = false;                         /* failure, D(k,k) is zero */
-      break;
-    }
-  }
-
-  ei_aligned_stack_delete(Scalar, y, size);
-  ei_aligned_stack_delete(int, pattern, size);
-  ei_aligned_stack_delete(int, tags, size);
-
-  return ok;  /* success, diagonal of D is all nonzero */
-}
-
-/** Computes b = L^-T L^-1 b */
-template<typename MatrixType, int Backend>
-template<typename Derived>
-bool SparseLDLT<MatrixType, Backend>::solveInPlace(MatrixBase<Derived> &b) const
-{
-  const int size = m_matrix.rows();
-  ei_assert(size==b.rows());
-  if (!m_succeeded)
-    return false;
-
-  if (m_matrix.nonZeros()>0) // otherwise L==I
-    m_matrix.solveTriangularInPlace(b);
-  b = b.cwise() / m_diag;
-  // FIXME should be .adjoint() but it fails to compile...
-
-  if (m_matrix.nonZeros()>0) // otherwise L==I
-  m_matrix.transpose().solveTriangularInPlace(b);
-
-  return true;
-}
-
-#endif // EIGEN_SPARSELDLT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseLLT.h b/extern/Eigen2/Eigen/src/Sparse/SparseLLT.h
deleted file mode 100644
index e7c314c2cad..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseLLT.h
+++ /dev/null
@@ -1,205 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSELLT_H
-#define EIGEN_SPARSELLT_H
-
-/** \ingroup Sparse_Module
-  *
-  * \class SparseLLT
-  *
-  * \brief LLT Cholesky decomposition of a sparse matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LLT Cholesky decomposition
-  *
-  * \sa class LLT, class LDLT
-  */
-template<typename MatrixType, int Backend = DefaultBackend>
-class SparseLLT
-{
-  protected:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef SparseMatrix<Scalar,LowerTriangular> CholMatrixType;
-
-    enum {
-      SupernodalFactorIsDirty      = 0x10000,
-      MatrixLIsDirty               = 0x20000
-    };
-
-  public:
-
-    /** Creates a dummy LLT factorization object with flags \a flags. */
-    SparseLLT(int flags = 0)
-      : m_flags(flags), m_status(0)
-    {
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-    }
-
-    /** Creates a LLT object and compute the respective factorization of \a matrix using
-      * flags \a flags. */
-    SparseLLT(const MatrixType& matrix, int flags = 0)
-      : m_matrix(matrix.rows(), matrix.cols()), m_flags(flags), m_status(0)
-    {
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-      compute(matrix);
-    }
-
-    /** Sets the relative threshold value used to prune zero coefficients during the decomposition.
-      *
-      * Setting a value greater than zero speeds up computation, and yields to an imcomplete
-      * factorization with fewer non zero coefficients. Such approximate factors are especially
-      * useful to initialize an iterative solver.
-      *
-      * \warning if precision is greater that zero, the LLT factorization is not guaranteed to succeed
-      * even if the matrix is positive definite.
-      *
-      * Note that the exact meaning of this parameter might depends on the actual
-      * backend. Moreover, not all backends support this feature.
-      *
-      * \sa precision() */
-    void setPrecision(RealScalar v) { m_precision = v; }
-
-    /** \returns the current precision.
-      *
-      * \sa setPrecision() */
-    RealScalar precision() const { return m_precision; }
-
-    /** Sets the flags. Possible values are:
-      *  - CompleteFactorization
-      *  - IncompleteFactorization
-      *  - MemoryEfficient          (hint to use the memory most efficient method offered by the backend)
-      *  - SupernodalMultifrontal   (implies a complete factorization if supported by the backend,
-      *                              overloads the MemoryEfficient flags)
-      *  - SupernodalLeftLooking    (implies a complete factorization  if supported by the backend,
-      *                              overloads the MemoryEfficient flags)
-      *
-      * \sa flags() */
-    void setFlags(int f) { m_flags = f; }
-    /** \returns the current flags */
-    int flags() const { return m_flags; }
-
-    /** Computes/re-computes the LLT factorization */
-    void compute(const MatrixType& matrix);
-
-    /** \returns the lower triangular matrix L */
-    inline const CholMatrixType& matrixL(void) const { return m_matrix; }
-
-    template<typename Derived>
-    bool solveInPlace(MatrixBase<Derived> &b) const;
-
-    /** \returns true if the factorization succeeded */
-    inline bool succeeded(void) const { return m_succeeded; }
-
-  protected:
-    CholMatrixType m_matrix;
-    RealScalar m_precision;
-    int m_flags;
-    mutable int m_status;
-    bool m_succeeded;
-};
-
-/** Computes / recomputes the LLT decomposition of matrix \a a
-  * using the default algorithm.
-  */
-template<typename MatrixType, int Backend>
-void SparseLLT<MatrixType,Backend>::compute(const MatrixType& a)
-{
-  assert(a.rows()==a.cols());
-  const int size = a.rows();
-  m_matrix.resize(size, size);
-
-  // allocate a temporary vector for accumulations
-  AmbiVector<Scalar> tempVector(size);
-  RealScalar density = a.nonZeros()/RealScalar(size*size);
-
-  // TODO estimate the number of non zeros
-  m_matrix.startFill(a.nonZeros()*2);
-  for (int j = 0; j < size; ++j)
-  {
-    Scalar x = ei_real(a.coeff(j,j));
-
-    // TODO better estimate of the density !
-    tempVector.init(density>0.001? IsDense : IsSparse);
-    tempVector.setBounds(j+1,size);
-    tempVector.setZero();
-    // init with current matrix a
-    {
-      typename MatrixType::InnerIterator it(a,j);
-      ++it; // skip diagonal element
-      for (; it; ++it)
-        tempVector.coeffRef(it.index()) = it.value();
-    }
-    for (int k=0; k<j+1; ++k)
-    {
-      typename CholMatrixType::InnerIterator it(m_matrix, k);
-      while (it && it.index()<j)
-        ++it;
-      if (it && it.index()==j)
-      {
-        Scalar y = it.value();
-        x -= ei_abs2(y);
-        ++it; // skip j-th element, and process remaining column coefficients
-        tempVector.restart();
-        for (; it; ++it)
-        {
-          tempVector.coeffRef(it.index()) -= it.value() * y;
-        }
-      }
-    }
-    // copy the temporary vector to the respective m_matrix.col()
-    // while scaling the result by 1/real(x)
-    RealScalar rx = ei_sqrt(ei_real(x));
-    m_matrix.fill(j,j) = rx;
-    Scalar y = Scalar(1)/rx;
-    for (typename AmbiVector<Scalar>::Iterator it(tempVector, m_precision*rx); it; ++it)
-    {
-      m_matrix.fill(it.index(), j) = it.value() * y;
-    }
-  }
-  m_matrix.endFill();
-}
-
-/** Computes b = L^-T L^-1 b */
-template<typename MatrixType, int Backend>
-template<typename Derived>
-bool SparseLLT<MatrixType, Backend>::solveInPlace(MatrixBase<Derived> &b) const
-{
-  const int size = m_matrix.rows();
-  ei_assert(size==b.rows());
-
-  m_matrix.solveTriangularInPlace(b);
-  // FIXME should be simply .adjoint() but it fails to compile...
-  if (NumTraits<Scalar>::IsComplex)
-  {
-    CholMatrixType aux = m_matrix.conjugate();
-    aux.transpose().solveTriangularInPlace(b);
-  }
-  else
-    m_matrix.transpose().solveTriangularInPlace(b);
-
-  return true;
-}
-
-#endif // EIGEN_SPARSELLT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseLU.h b/extern/Eigen2/Eigen/src/Sparse/SparseLU.h
deleted file mode 100644
index 1425920509f..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseLU.h
+++ /dev/null
@@ -1,148 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSELU_H
-#define EIGEN_SPARSELU_H
-
-/** \ingroup Sparse_Module
-  *
-  * \class SparseLU
-  *
-  * \brief LU decomposition of a sparse matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the LU factorization
-  *
-  * \sa class LU, class SparseLLT
-  */
-template<typename MatrixType, int Backend = DefaultBackend>
-class SparseLU
-{
-  protected:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef SparseMatrix<Scalar,LowerTriangular> LUMatrixType;
-
-    enum {
-      MatrixLUIsDirty             = 0x10000
-    };
-
-  public:
-
-    /** Creates a dummy LU factorization object with flags \a flags. */
-    SparseLU(int flags = 0)
-      : m_flags(flags), m_status(0)
-    {
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-    }
-
-    /** Creates a LU object and compute the respective factorization of \a matrix using
-      * flags \a flags. */
-    SparseLU(const MatrixType& matrix, int flags = 0)
-      : /*m_matrix(matrix.rows(), matrix.cols()),*/ m_flags(flags), m_status(0)
-    {
-      m_precision = RealScalar(0.1) * Eigen::precision<RealScalar>();
-      compute(matrix);
-    }
-
-    /** Sets the relative threshold value used to prune zero coefficients during the decomposition.
-      *
-      * Setting a value greater than zero speeds up computation, and yields to an imcomplete
-      * factorization with fewer non zero coefficients. Such approximate factors are especially
-      * useful to initialize an iterative solver.
-      *
-      * Note that the exact meaning of this parameter might depends on the actual
-      * backend. Moreover, not all backends support this feature.
-      *
-      * \sa precision() */
-    void setPrecision(RealScalar v) { m_precision = v; }
-
-    /** \returns the current precision.
-      *
-      * \sa setPrecision() */
-    RealScalar precision() const { return m_precision; }
-
-    /** Sets the flags. Possible values are:
-      *  - CompleteFactorization
-      *  - IncompleteFactorization
-      *  - MemoryEfficient
-      *  - one of the ordering methods
-      *  - etc...
-      *
-      * \sa flags() */
-    void setFlags(int f) { m_flags = f; }
-    /** \returns the current flags */
-    int flags() const { return m_flags; }
-
-    void setOrderingMethod(int m)
-    {
-      ei_assert(m&~OrderingMask == 0 && m!=0 && "invalid ordering method");
-      m_flags = m_flags&~OrderingMask | m&OrderingMask;
-    }
-
-    int orderingMethod() const
-    {
-      return m_flags&OrderingMask;
-    }
-
-    /** Computes/re-computes the LU factorization */
-    void compute(const MatrixType& matrix);
-
-    /** \returns the lower triangular matrix L */
-    //inline const MatrixType& matrixL() const { return m_matrixL; }
-
-    /** \returns the upper triangular matrix U */
-    //inline const MatrixType& matrixU() const { return m_matrixU; }
-
-    template<typename BDerived, typename XDerived>
-    bool solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x) const;
-
-    /** \returns true if the factorization succeeded */
-    inline bool succeeded(void) const { return m_succeeded; }
-
-  protected:
-    RealScalar m_precision;
-    int m_flags;
-    mutable int m_status;
-    bool m_succeeded;
-};
-
-/** Computes / recomputes the LU decomposition of matrix \a a
-  * using the default algorithm.
-  */
-template<typename MatrixType, int Backend>
-void SparseLU<MatrixType,Backend>::compute(const MatrixType& a)
-{
-  ei_assert(false && "not implemented yet");
-}
-
-/** Computes *x = U^-1 L^-1 b */
-template<typename MatrixType, int Backend>
-template<typename BDerived, typename XDerived>
-bool SparseLU<MatrixType,Backend>::solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x) const
-{
-  ei_assert(false && "not implemented yet");
-  return false;
-}
-
-#endif // EIGEN_SPARSELU_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseMatrix.h b/extern/Eigen2/Eigen/src/Sparse/SparseMatrix.h
deleted file mode 100644
index 65c609686d2..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseMatrix.h
+++ /dev/null
@@ -1,452 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSEMATRIX_H
-#define EIGEN_SPARSEMATRIX_H
-
-/** \class SparseMatrix
-  *
-  * \brief Sparse matrix
-  *
-  * \param _Scalar the scalar type, i.e. the type of the coefficients
-  *
-  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
-  *
-  */
-template<typename _Scalar, int _Flags>
-struct ei_traits<SparseMatrix<_Scalar, _Flags> >
-{
-  typedef _Scalar Scalar;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    Flags = SparseBit | _Flags,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    SupportedAccessPatterns = InnerRandomAccessPattern
-  };
-};
-
-
-
-template<typename _Scalar, int _Flags>
-class SparseMatrix
-  : public SparseMatrixBase<SparseMatrix<_Scalar, _Flags> >
-{
-  public:
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseMatrix)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, +=)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, -=)
-    // FIXME: why are these operator already alvailable ???
-    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, *=)
-    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, /=)
-
-    typedef MappedSparseMatrix<Scalar,Flags> Map;
-
-  protected:
-
-    enum { IsRowMajor = Base::IsRowMajor };
-    typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
-
-    int m_outerSize;
-    int m_innerSize;
-    int* m_outerIndex;
-    CompressedStorage<Scalar> m_data;
-
-  public:
-
-    inline int rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    inline int cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-
-    inline int innerSize() const { return m_innerSize; }
-    inline int outerSize() const { return m_outerSize; }
-    inline int innerNonZeros(int j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
-
-    inline const Scalar* _valuePtr() const { return &m_data.value(0); }
-    inline Scalar* _valuePtr() { return &m_data.value(0); }
-
-    inline const int* _innerIndexPtr() const { return &m_data.index(0); }
-    inline int* _innerIndexPtr() { return &m_data.index(0); }
-
-    inline const int* _outerIndexPtr() const { return m_outerIndex; }
-    inline int* _outerIndexPtr() { return m_outerIndex; }
-
-    inline Scalar coeff(int row, int col) const
-    {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-      return m_data.atInRange(m_outerIndex[outer], m_outerIndex[outer+1], inner);
-    }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-
-      int start = m_outerIndex[outer];
-      int end = m_outerIndex[outer+1];
-      ei_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      ei_assert(end>start && "coeffRef cannot be called on a zero coefficient");
-      const int id = m_data.searchLowerIndex(start,end-1,inner);
-      ei_assert((id<end) && (m_data.index(id)==inner) && "coeffRef cannot be called on a zero coefficient");
-      return m_data.value(id);
-    }
-
-  public:
-
-    class InnerIterator;
-
-    inline void setZero()
-    {
-      m_data.clear();
-      //if (m_outerSize)
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(int));
-//       for (int i=0; i<m_outerSize; ++i)
-//         m_outerIndex[i] = 0;
-//       if (m_outerSize)
-//         m_outerIndex[i] = 0;
-    }
-
-    /** \returns the number of non zero coefficients */
-    inline int nonZeros() const  { return m_data.size(); }
-
-    /** Initializes the filling process of \c *this.
-      * \param reserveSize approximate number of nonzeros
-      * Note that the matrix \c *this is zero-ed.
-      */
-    inline void startFill(int reserveSize = 1000)
-    {
-      setZero();
-      m_data.reserve(reserveSize);
-    }
-
-    /**
-      */
-    inline Scalar& fill(int row, int col)
-    {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-
-      if (m_outerIndex[outer+1]==0)
-      {
-        // we start a new inner vector
-        int i = outer;
-        while (i>=0 && m_outerIndex[i]==0)
-        {
-          m_outerIndex[i] = m_data.size();
-          --i;
-        }
-        m_outerIndex[outer+1] = m_outerIndex[outer];
-      }
-      else
-      {
-        ei_assert(m_data.index(m_data.size()-1)<inner && "wrong sorted insertion");
-      }
-      assert(size_t(m_outerIndex[outer+1]) == m_data.size());
-      int id = m_outerIndex[outer+1];
-      ++m_outerIndex[outer+1];
-
-      m_data.append(0, inner);
-      return m_data.value(id);
-    }
-
-    /** Like fill() but with random inner coordinates.
-      */
-    inline Scalar& fillrand(int row, int col)
-    {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-      if (m_outerIndex[outer+1]==0)
-      {
-        // we start a new inner vector
-        // nothing special to do here
-        int i = outer;
-        while (i>=0 && m_outerIndex[i]==0)
-        {
-          m_outerIndex[i] = m_data.size();
-          --i;
-        }
-        m_outerIndex[outer+1] = m_outerIndex[outer];
-      }
-      assert(size_t(m_outerIndex[outer+1]) == m_data.size() && "invalid outer index");
-      size_t startId = m_outerIndex[outer];
-      // FIXME let's make sure sizeof(long int) == sizeof(size_t)
-      size_t id = m_outerIndex[outer+1];
-      ++m_outerIndex[outer+1];
-
-      float reallocRatio = 1;
-      if (m_data.allocatedSize()<id+1)
-      {
-        // we need to reallocate the data, to reduce multiple reallocations
-        // we use a smart resize algorithm based on the current filling ratio
-        // we use float to avoid overflows
-        float nnzEstimate = float(m_outerIndex[outer])*float(m_outerSize)/float(outer);
-        reallocRatio = (nnzEstimate-float(m_data.size()))/float(m_data.size());
-        // let's bounds the realloc ratio to
-        //   1) reduce multiple minor realloc when the matrix is almost filled
-        //   2) avoid to allocate too much memory when the matrix is almost empty
-        reallocRatio = std::min(std::max(reallocRatio,1.5f),8.f);
-      }
-      m_data.resize(id+1,reallocRatio);
-
-      while ( (id > startId) && (m_data.index(id-1) > inner) )
-      {
-        m_data.index(id) = m_data.index(id-1);
-        m_data.value(id) = m_data.value(id-1);
-        --id;
-      }
-
-      m_data.index(id) = inner;
-      return (m_data.value(id) = 0);
-    }
-
-    inline void endFill()
-    {
-      int size = m_data.size();
-      int i = m_outerSize;
-      // find the last filled column
-      while (i>=0 && m_outerIndex[i]==0)
-        --i;
-      ++i;
-      while (i<=m_outerSize)
-      {
-        m_outerIndex[i] = size;
-        ++i;
-      }
-    }
-
-    void prune(Scalar reference, RealScalar epsilon = precision<RealScalar>())
-    {
-      int k = 0;
-      for (int j=0; j<m_outerSize; ++j)
-      {
-        int previousStart = m_outerIndex[j];
-        m_outerIndex[j] = k;
-        int end = m_outerIndex[j+1];
-        for (int i=previousStart; i<end; ++i)
-        {
-          if (!ei_isMuchSmallerThan(m_data.value(i), reference, epsilon))
-          {
-            m_data.value(k) = m_data.value(i);
-            m_data.index(k) = m_data.index(i);
-            ++k;
-          }
-        }
-      }
-      m_outerIndex[m_outerSize] = k;
-      m_data.resize(k,0);
-    }
-
-    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero
-      * \sa resizeNonZeros(int), reserve(), setZero()
-      */
-    void resize(int rows, int cols)
-    {
-      const int outerSize = IsRowMajor ? rows : cols;
-      m_innerSize = IsRowMajor ? cols : rows;
-      m_data.clear();
-      if (m_outerSize != outerSize || m_outerSize==0)
-      {
-        delete[] m_outerIndex;
-        m_outerIndex = new int [outerSize+1];
-        m_outerSize = outerSize;
-      }
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(int));
-    }
-    void resizeNonZeros(int size)
-    {
-      m_data.resize(size);
-    }
-
-    inline SparseMatrix()
-      : m_outerSize(-1), m_innerSize(0), m_outerIndex(0)
-    {
-      resize(0, 0);
-    }
-
-    inline SparseMatrix(int rows, int cols)
-      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
-    {
-      resize(rows, cols);
-    }
-
-    template<typename OtherDerived>
-    inline SparseMatrix(const SparseMatrixBase<OtherDerived>& other)
-      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
-    {
-      *this = other.derived();
-    }
-
-    inline SparseMatrix(const SparseMatrix& other)
-      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0)
-    {
-      *this = other.derived();
-    }
-
-    inline void swap(SparseMatrix& other)
-    {
-      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
-      std::swap(m_outerIndex, other.m_outerIndex);
-      std::swap(m_innerSize, other.m_innerSize);
-      std::swap(m_outerSize, other.m_outerSize);
-      m_data.swap(other.m_data);
-    }
-
-    inline SparseMatrix& operator=(const SparseMatrix& other)
-    {
-//       std::cout << "SparseMatrix& operator=(const SparseMatrix& other)\n";
-      if (other.isRValue())
-      {
-        swap(other.const_cast_derived());
-      }
-      else
-      {
-        resize(other.rows(), other.cols());
-        memcpy(m_outerIndex, other.m_outerIndex, (m_outerSize+1)*sizeof(int));
-        m_data = other.m_data;
-      }
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    inline SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      if (needToTranspose)
-      {
-        // two passes algorithm:
-        //  1 - compute the number of coeffs per dest inner vector
-        //  2 - do the actual copy/eval
-        // Since each coeff of the rhs has to be evaluated twice, let's evauluate it if needed
-        //typedef typename ei_nested<OtherDerived,2>::type OtherCopy;
-        typedef typename ei_eval<OtherDerived>::type OtherCopy;
-        typedef typename ei_cleantype<OtherCopy>::type _OtherCopy;
-        OtherCopy otherCopy(other.derived());
-
-        resize(other.rows(), other.cols());
-        Eigen::Map<VectorXi>(m_outerIndex,outerSize()).setZero();
-        // pass 1
-        // FIXME the above copy could be merged with that pass
-        for (int j=0; j<otherCopy.outerSize(); ++j)
-          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
-            ++m_outerIndex[it.index()];
-
-        // prefix sum
-        int count = 0;
-        VectorXi positions(outerSize());
-        for (int j=0; j<outerSize(); ++j)
-        {
-          int tmp = m_outerIndex[j];
-          m_outerIndex[j] = count;
-          positions[j] = count;
-          count += tmp;
-        }
-        m_outerIndex[outerSize()] = count;
-        // alloc
-        m_data.resize(count);
-        // pass 2
-        for (int j=0; j<otherCopy.outerSize(); ++j)
-          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
-          {
-            int pos = positions[it.index()]++;
-            m_data.index(pos) = j;
-            m_data.value(pos) = it.value();
-          }
-
-        return *this;
-      }
-      else
-      {
-        // there is no special optimization
-        return SparseMatrixBase<SparseMatrix>::operator=(other.derived());
-      }
-    }
-
-    friend std::ostream & operator << (std::ostream & s, const SparseMatrix& m)
-    {
-      EIGEN_DBG_SPARSE(
-        s << "Nonzero entries:\n";
-        for (int i=0; i<m.nonZeros(); ++i)
-        {
-          s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
-        }
-        s << std::endl;
-        s << std::endl;
-        s << "Column pointers:\n";
-        for (int i=0; i<m.outerSize(); ++i)
-        {
-          s << m.m_outerIndex[i] << " ";
-        }
-        s << " $" << std::endl;
-        s << std::endl;
-      );
-      s << static_cast<const SparseMatrixBase<SparseMatrix>&>(m);
-      return s;
-    }
-
-    /** Destructor */
-    inline ~SparseMatrix()
-    {
-      delete[] m_outerIndex;
-    }
-};
-
-template<typename Scalar, int _Flags>
-class SparseMatrix<Scalar,_Flags>::InnerIterator
-{
-  public:
-    InnerIterator(const SparseMatrix& mat, int outer)
-      : m_matrix(mat), m_outer(outer), m_id(mat.m_outerIndex[outer]), m_start(m_id), m_end(mat.m_outerIndex[outer+1])
-    {}
-
-    template<unsigned int Added, unsigned int Removed>
-    InnerIterator(const Flagged<SparseMatrix,Added,Removed>& mat, int outer)
-      : m_matrix(mat._expression()), m_outer(outer), m_id(m_matrix.m_outerIndex[outer]),
-        m_start(m_id), m_end(m_matrix.m_outerIndex[outer+1])
-    {}
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline Scalar value() const { return m_matrix.m_data.value(m_id); }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.m_data.value(m_id)); }
-
-    inline int index() const { return m_matrix.m_data.index(m_id); }
-    inline int row() const { return IsRowMajor ? m_outer : index(); }
-    inline int col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id < m_end) && (m_id>=m_start); }
-
-  protected:
-    const SparseMatrix& m_matrix;
-    const int m_outer;
-    int m_id;
-    const int m_start;
-    const int m_end;
-
-  private:
-    InnerIterator& operator=(const InnerIterator&);
-};
-
-#endif // EIGEN_SPARSEMATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseProduct.h b/extern/Eigen2/Eigen/src/Sparse/SparseProduct.h
deleted file mode 100644
index c98a71e993b..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseProduct.h
+++ /dev/null
@@ -1,415 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSEPRODUCT_H
-#define EIGEN_SPARSEPRODUCT_H
-
-template<typename Lhs, typename Rhs> struct ei_sparse_product_mode
-{
-  enum {
-
-    value = ((Lhs::Flags&Diagonal)==Diagonal || (Rhs::Flags&Diagonal)==Diagonal)
-          ? DiagonalProduct
-          :  (Rhs::Flags&Lhs::Flags&SparseBit)==SparseBit
-          ? SparseTimeSparseProduct
-          : (Lhs::Flags&SparseBit)==SparseBit
-          ? SparseTimeDenseProduct
-          : DenseTimeSparseProduct };
-};
-
-template<typename Lhs, typename Rhs, int ProductMode>
-struct SparseProductReturnType
-{
-  typedef const typename ei_nested<Lhs,Rhs::RowsAtCompileTime>::type LhsNested;
-  typedef const typename ei_nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef SparseProduct<LhsNested, RhsNested, ProductMode> Type;
-};
-
-template<typename Lhs, typename Rhs>
-struct SparseProductReturnType<Lhs,Rhs,DiagonalProduct>
-{
-  typedef const typename ei_nested<Lhs,Rhs::RowsAtCompileTime>::type LhsNested;
-  typedef const typename ei_nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef SparseDiagonalProduct<LhsNested, RhsNested> Type;
-};
-
-// sparse product return type specialization
-template<typename Lhs, typename Rhs>
-struct SparseProductReturnType<Lhs,Rhs,SparseTimeSparseProduct>
-{
-  typedef typename ei_traits<Lhs>::Scalar Scalar;
-  enum {
-    LhsRowMajor = ei_traits<Lhs>::Flags & RowMajorBit,
-    RhsRowMajor = ei_traits<Rhs>::Flags & RowMajorBit,
-    TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
-    TransposeLhs = LhsRowMajor && (!RhsRowMajor)
-  };
-
-  // FIXME if we transpose let's evaluate to a LinkedVectorMatrix since it is the
-  // type of the temporary to perform the transpose op
-  typedef typename ei_meta_if<TransposeLhs,
-    SparseMatrix<Scalar,0>,
-    const typename ei_nested<Lhs,Rhs::RowsAtCompileTime>::type>::ret LhsNested;
-
-  typedef typename ei_meta_if<TransposeRhs,
-    SparseMatrix<Scalar,0>,
-    const typename ei_nested<Rhs,Lhs::RowsAtCompileTime>::type>::ret RhsNested;
-
-  typedef SparseProduct<LhsNested, RhsNested, SparseTimeSparseProduct> Type;
-};
-
-template<typename LhsNested, typename RhsNested, int ProductMode>
-struct ei_traits<SparseProduct<LhsNested, RhsNested, ProductMode> >
-{
-  // clean the nested types:
-  typedef typename ei_cleantype<LhsNested>::type _LhsNested;
-  typedef typename ei_cleantype<RhsNested>::type _RhsNested;
-  typedef typename _LhsNested::Scalar Scalar;
-
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-
-    RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-    ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-    InnerSize = EIGEN_ENUM_MIN(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-//     LhsIsRowMajor = (LhsFlags & RowMajorBit)==RowMajorBit,
-//     RhsIsRowMajor = (RhsFlags & RowMajorBit)==RowMajorBit,
-
-    EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
-    ResultIsSparse = ProductMode==SparseTimeSparseProduct || ProductMode==DiagonalProduct,
-
-    RemovedBits = ~( (EvalToRowMajor ? 0 : RowMajorBit) | (ResultIsSparse ? 0 : SparseBit) ),
-
-    Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeAssigningBit
-          | EvalBeforeNestingBit,
-
-    CoeffReadCost = Dynamic
-  };
-
-  typedef typename ei_meta_if<ResultIsSparse,
-    SparseMatrixBase<SparseProduct<LhsNested, RhsNested, ProductMode> >,
-    MatrixBase<SparseProduct<LhsNested, RhsNested, ProductMode> > >::ret Base;
-};
-
-template<typename LhsNested, typename RhsNested, int ProductMode>
-class SparseProduct : ei_no_assignment_operator,
-  public ei_traits<SparseProduct<LhsNested, RhsNested, ProductMode> >::Base
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(SparseProduct)
-
-  private:
-
-    typedef typename ei_traits<SparseProduct>::_LhsNested _LhsNested;
-    typedef typename ei_traits<SparseProduct>::_RhsNested _RhsNested;
-
-  public:
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      ei_assert(lhs.cols() == rhs.rows());
-
-      enum {
-        ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
-                      || _RhsNested::RowsAtCompileTime==Dynamic
-                      || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
-        AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
-        SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
-      };
-      // note to the lost user:
-      //    * for a dot product use: v1.dot(v2)
-      //    * for a coeff-wise product use: v1.cwise()*v2
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-      EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-    }
-
-    EIGEN_STRONG_INLINE int rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-// perform a pseudo in-place sparse * sparse product assuming all matrices are col major
-template<typename Lhs, typename Rhs, typename ResultType>
-static void ei_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-{
-  typedef typename ei_traits<typename ei_cleantype<Lhs>::type>::Scalar Scalar;
-
-  // make sure to call innerSize/outerSize since we fake the storage order.
-  int rows = lhs.innerSize();
-  int cols = rhs.outerSize();
-  //int size = lhs.outerSize();
-  ei_assert(lhs.outerSize() == rhs.innerSize());
-
-  // allocate a temporary buffer
-  AmbiVector<Scalar> tempVector(rows);
-
-  // estimate the number of non zero entries
-  float ratioLhs = float(lhs.nonZeros())/(float(lhs.rows())*float(lhs.cols()));
-  float avgNnzPerRhsColumn = float(rhs.nonZeros())/float(cols);
-  float ratioRes = std::min(ratioLhs * avgNnzPerRhsColumn, 1.f);
-
-  res.resize(rows, cols);
-  res.startFill(int(ratioRes*rows*cols));
-  for (int j=0; j<cols; ++j)
-  {
-    // let's do a more accurate determination of the nnz ratio for the current column j of res
-    //float ratioColRes = std::min(ratioLhs * rhs.innerNonZeros(j), 1.f);
-    // FIXME find a nice way to get the number of nonzeros of a sub matrix (here an inner vector)
-    float ratioColRes = ratioRes;
-    tempVector.init(ratioColRes);
-    tempVector.setZero();
-    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
-    {
-      // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
-      tempVector.restart();
-      Scalar x = rhsIt.value();
-      for (typename Lhs::InnerIterator lhsIt(lhs, rhsIt.index()); lhsIt; ++lhsIt)
-      {
-        tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
-      }
-    }
-    for (typename AmbiVector<Scalar>::Iterator it(tempVector); it; ++it)
-      if (ResultType::Flags&RowMajorBit)
-        res.fill(j,it.index()) = it.value();
-      else
-        res.fill(it.index(), j) = it.value();
-  }
-  res.endFill();
-}
-
-template<typename Lhs, typename Rhs, typename ResultType,
-  int LhsStorageOrder = ei_traits<Lhs>::Flags&RowMajorBit,
-  int RhsStorageOrder = ei_traits<Rhs>::Flags&RowMajorBit,
-  int ResStorageOrder = ei_traits<ResultType>::Flags&RowMajorBit>
-struct ei_sparse_product_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct ei_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
-{
-  typedef typename ei_traits<typename ei_cleantype<Lhs>::type>::Scalar Scalar;
-
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typename ei_cleantype<ResultType>::type _res(res.rows(), res.cols());
-    ei_sparse_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, _res);
-    res.swap(_res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct ei_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    // we need a col-major matrix to hold the result
-    typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
-    SparseTemporaryType _res(res.rows(), res.cols());
-    ei_sparse_product_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res);
-    res = _res;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct ei_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    // let's transpose the product to get a column x column product
-    typename ei_cleantype<ResultType>::type _res(res.rows(), res.cols());
-    ei_sparse_product_impl<Rhs,Lhs,ResultType>(rhs, lhs, _res);
-    res.swap(_res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct ei_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    // let's transpose the product to get a column x column product
-    typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
-    SparseTemporaryType _res(res.cols(), res.rows());
-    ei_sparse_product_impl<Rhs,Lhs,SparseTemporaryType>(rhs, lhs, _res);
-    res = _res.transpose();
-  }
-};
-
-// NOTE eventually let's transpose one argument even in this case since it might be expensive if
-// the result is not dense.
-// template<typename Lhs, typename Rhs, typename ResultType, int ResStorageOrder>
-// struct ei_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,ResStorageOrder>
-// {
-//   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-//   {
-//     // trivial product as lhs.row/rhs.col dot products
-//     // loop over the preferred order of the result
-//   }
-// };
-
-// NOTE the 2 others cases (col row *) must never occurs since they are caught
-// by ProductReturnType which transform it to (col col *) by evaluating rhs.
-
-
-// template<typename Derived>
-// template<typename Lhs, typename Rhs>
-// inline Derived& SparseMatrixBase<Derived>::lazyAssign(const SparseProduct<Lhs,Rhs>& product)
-// {
-// //   std::cout << "sparse product to dense\n";
-//   ei_sparse_product_selector<
-//     typename ei_cleantype<Lhs>::type,
-//     typename ei_cleantype<Rhs>::type,
-//     typename ei_cleantype<Derived>::type>::run(product.lhs(),product.rhs(),derived());
-//   return derived();
-// }
-
-// sparse = sparse * sparse
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-inline Derived& SparseMatrixBase<Derived>::operator=(const SparseProduct<Lhs,Rhs,SparseTimeSparseProduct>& product)
-{
-  ei_sparse_product_selector<
-    typename ei_cleantype<Lhs>::type,
-    typename ei_cleantype<Rhs>::type,
-    Derived>::run(product.lhs(),product.rhs(),derived());
-  return derived();
-}
-
-// dense = sparse * dense
-// template<typename Derived>
-// template<typename Lhs, typename Rhs>
-// Derived& MatrixBase<Derived>::lazyAssign(const SparseProduct<Lhs,Rhs,SparseTimeDenseProduct>& product)
-// {
-//   typedef typename ei_cleantype<Lhs>::type _Lhs;
-//   typedef typename _Lhs::InnerIterator LhsInnerIterator;
-//   enum { LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit };
-//   derived().setZero();
-//   for (int j=0; j<product.lhs().outerSize(); ++j)
-//     for (LhsInnerIterator i(product.lhs(),j); i; ++i)
-//       derived().row(LhsIsRowMajor ? j : i.index()) += i.value() * product.rhs().row(LhsIsRowMajor ? i.index() : j);
-//   return derived();
-// }
-
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::lazyAssign(const SparseProduct<Lhs,Rhs,SparseTimeDenseProduct>& product)
-{
-  typedef typename ei_cleantype<Lhs>::type _Lhs;
-  typedef typename ei_cleantype<Rhs>::type _Rhs;
-  typedef typename _Lhs::InnerIterator LhsInnerIterator;
-  enum {
-    LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit,
-    LhsIsSelfAdjoint = (_Lhs::Flags&SelfAdjointBit)==SelfAdjointBit,
-    ProcessFirstHalf = LhsIsSelfAdjoint
-      && (   ((_Lhs::Flags&(UpperTriangularBit|LowerTriangularBit))==0)
-          || ( (_Lhs::Flags&UpperTriangularBit) && !LhsIsRowMajor)
-          || ( (_Lhs::Flags&LowerTriangularBit) && LhsIsRowMajor) ),
-    ProcessSecondHalf = LhsIsSelfAdjoint && (!ProcessFirstHalf)
-  };
-  derived().setZero();
-  for (int j=0; j<product.lhs().outerSize(); ++j)
-  {
-    LhsInnerIterator i(product.lhs(),j);
-    if (ProcessSecondHalf && i && (i.index()==j))
-    {
-      derived().row(j) += i.value() * product.rhs().row(j);
-      ++i;
-    }
-    Block<Derived,1,Derived::ColsAtCompileTime> res(derived().row(LhsIsRowMajor ? j : 0));
-    for (; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
-    {
-      if (LhsIsSelfAdjoint)
-      {
-        int a = LhsIsRowMajor ? j : i.index();
-        int b = LhsIsRowMajor ? i.index() : j;
-        Scalar v = i.value();
-        derived().row(a) += (v) * product.rhs().row(b);
-        derived().row(b) += ei_conj(v) * product.rhs().row(a);
-      }
-      else if (LhsIsRowMajor)
-        res += i.value() * product.rhs().row(i.index());
-      else
-        derived().row(i.index()) += i.value() * product.rhs().row(j);
-    }
-    if (ProcessFirstHalf && i && (i.index()==j))
-      derived().row(j) += i.value() * product.rhs().row(j);
-  }
-  return derived();
-}
-
-// dense = dense * sparse
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::lazyAssign(const SparseProduct<Lhs,Rhs,DenseTimeSparseProduct>& product)
-{
-  typedef typename ei_cleantype<Rhs>::type _Rhs;
-  typedef typename _Rhs::InnerIterator RhsInnerIterator;
-  enum { RhsIsRowMajor = (_Rhs::Flags&RowMajorBit)==RowMajorBit };
-  derived().setZero();
-  for (int j=0; j<product.rhs().outerSize(); ++j)
-    for (RhsInnerIterator i(product.rhs(),j); i; ++i)
-      derived().col(RhsIsRowMajor ? i.index() : j) += i.value() * product.lhs().col(RhsIsRowMajor ? j : i.index());
-  return derived();
-}
-
-// sparse * sparse
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const typename SparseProductReturnType<Derived,OtherDerived>::Type
-SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return typename SparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
-}
-
-// sparse * dense
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const typename SparseProductReturnType<Derived,OtherDerived>::Type
-SparseMatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  return typename SparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
-}
-
-#endif // EIGEN_SPARSEPRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseTranspose.h b/extern/Eigen2/Eigen/src/Sparse/SparseTranspose.h
deleted file mode 100644
index 7386294e4d4..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseTranspose.h
+++ /dev/null
@@ -1,90 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSETRANSPOSE_H
-#define EIGEN_SPARSETRANSPOSE_H
-
-template<typename MatrixType>
-struct ei_traits<SparseTranspose<MatrixType> > : ei_traits<Transpose<MatrixType> >
-{};
-
-template<typename MatrixType> class SparseTranspose
-  : public SparseMatrixBase<SparseTranspose<MatrixType> >
-{
-  public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(SparseTranspose)
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    inline SparseTranspose(const MatrixType& matrix) : m_matrix(matrix) {}
-
-    //EIGEN_INHERIT_ASSIGNMENT_OPERATORS(SparseTranspose)
-
-    inline int rows() const { return m_matrix.cols(); }
-    inline int cols() const { return m_matrix.rows(); }
-    inline int nonZeros() const { return m_matrix.nonZeros(); }
-
-    // FIXME should be keep them ?
-    inline Scalar& coeffRef(int row, int col)
-    { return m_matrix.const_cast_derived().coeffRef(col, row); }
-
-    inline const Scalar coeff(int row, int col) const
-    { return m_matrix.coeff(col, row); }
-
-    inline const Scalar coeff(int index) const
-    { return m_matrix.coeff(index); }
-
-    inline Scalar& coeffRef(int index)
-    { return m_matrix.const_cast_derived().coeffRef(index); }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-
-  private:
-    SparseTranspose& operator=(const SparseTranspose&);
-};
-
-template<typename MatrixType> class SparseTranspose<MatrixType>::InnerIterator : public MatrixType::InnerIterator
-{
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const SparseTranspose& trans, int outer)
-      : MatrixType::InnerIterator(trans.m_matrix, outer)
-    {}
-
-  private:
-    InnerIterator& operator=(const InnerIterator&);
-};
-
-template<typename MatrixType> class SparseTranspose<MatrixType>::ReverseInnerIterator : public MatrixType::ReverseInnerIterator
-{
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const SparseTranspose& xpr, int outer)
-      : MatrixType::ReverseInnerIterator(xpr.m_matrix, outer)
-    {}
-};
-
-#endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseUtil.h b/extern/Eigen2/Eigen/src/Sparse/SparseUtil.h
deleted file mode 100644
index 393cdda6ea2..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SparseUtil.h
+++ /dev/null
@@ -1,148 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSEUTIL_H
-#define EIGEN_SPARSEUTIL_H
-
-#ifdef NDEBUG
-#define EIGEN_DBG_SPARSE(X)
-#else
-#define EIGEN_DBG_SPARSE(X) X
-#endif
-
-#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename OtherDerived> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SparseMatrixBase<OtherDerived>& other) \
-{ \
-  return Base::operator Op(other.derived()); \
-} \
-EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
-{ \
-  return Base::operator Op(other); \
-}
-
-#define EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename Other> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
-{ \
-  return Base::operator Op(scalar); \
-}
-
-#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
-
-#define _EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(Derived, BaseClass) \
-typedef BaseClass Base; \
-typedef typename Eigen::ei_traits<Derived>::Scalar Scalar; \
-typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-typedef typename Eigen::ei_nested<Derived>::type Nested; \
-enum { RowsAtCompileTime = Eigen::ei_traits<Derived>::RowsAtCompileTime, \
-       ColsAtCompileTime = Eigen::ei_traits<Derived>::ColsAtCompileTime, \
-       Flags = Eigen::ei_traits<Derived>::Flags, \
-       CoeffReadCost = Eigen::ei_traits<Derived>::CoeffReadCost, \
-       SizeAtCompileTime = Base::SizeAtCompileTime, \
-       IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
-
-#define EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(Derived) \
-_EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::SparseMatrixBase<Derived>)
-
-enum SparseBackend {
-  DefaultBackend,
-  Taucs,
-  Cholmod,
-  SuperLU,
-  UmfPack
-};
-
-// solver flags
-enum {
-  CompleteFactorization       = 0x0000,  // the default
-  IncompleteFactorization     = 0x0001,
-  MemoryEfficient             = 0x0002,
-
-  // For LLT Cholesky:
-  SupernodalMultifrontal      = 0x0010,
-  SupernodalLeftLooking       = 0x0020,
-
-  // Ordering methods:
-  NaturalOrdering             = 0x0100, // the default
-  MinimumDegree_AT_PLUS_A     = 0x0200,
-  MinimumDegree_ATA           = 0x0300,
-  ColApproxMinimumDegree      = 0x0400,
-  Metis                       = 0x0500,
-  Scotch                      = 0x0600,
-  Chaco                       = 0x0700,
-  OrderingMask                = 0x0f00
-};
-
-template<typename Derived> class SparseMatrixBase;
-template<typename _Scalar, int _Flags = 0> class SparseMatrix;
-template<typename _Scalar, int _Flags = 0> class DynamicSparseMatrix;
-template<typename _Scalar, int _Flags = 0> class SparseVector;
-template<typename _Scalar, int _Flags = 0> class MappedSparseMatrix;
-
-template<typename MatrixType>                            class SparseTranspose;
-template<typename MatrixType, int Size>                  class SparseInnerVectorSet;
-template<typename Derived>                               class SparseCwise;
-template<typename UnaryOp,   typename MatrixType>        class SparseCwiseUnaryOp;
-template<typename BinaryOp,  typename Lhs, typename Rhs> class SparseCwiseBinaryOp;
-template<typename ExpressionType,
-         unsigned int Added, unsigned int Removed>       class SparseFlagged;
-template<typename Lhs, typename Rhs>                     class SparseDiagonalProduct;
-
-template<typename Lhs, typename Rhs> struct ei_sparse_product_mode;
-template<typename Lhs, typename Rhs, int ProductMode = ei_sparse_product_mode<Lhs,Rhs>::value> struct SparseProductReturnType;
-
-const int CoherentAccessPattern  = 0x1;
-const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
-const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
-const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
-
-// const int AccessPatternNotSupported = 0x0;
-// const int AccessPatternSupported    = 0x1;
-// 
-// template<typename MatrixType, int AccessPattern> struct ei_support_access_pattern
-// {
-//   enum { ret = (int(ei_traits<MatrixType>::SupportedAccessPatterns) & AccessPattern) == AccessPattern
-//              ? AccessPatternSupported
-//              : AccessPatternNotSupported
-//   };
-// };
-
-template<typename T> class ei_eval<T,IsSparse>
-{
-    typedef typename ei_traits<T>::Scalar _Scalar;
-    enum {
-          _Flags = ei_traits<T>::Flags
-    };
-
-  public:
-    typedef SparseMatrix<_Scalar, _Flags> type;
-};
-
-#endif // EIGEN_SPARSEUTIL_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SuperLUSupport.h b/extern/Eigen2/Eigen/src/Sparse/SuperLUSupport.h
deleted file mode 100644
index 3c9a4fcced6..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/SuperLUSupport.h
+++ /dev/null
@@ -1,565 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SUPERLUSUPPORT_H
-#define EIGEN_SUPERLUSUPPORT_H
-
-// declaration of gssvx taken from GMM++
-#define DECL_GSSVX(NAMESPACE,FNAME,FLOATTYPE,KEYTYPE) \
-    inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,  \
-         int *perm_c, int *perm_r, int *etree, char *equed,  \
-         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,         \
-         SuperMatrix *U, void *work, int lwork,              \
-         SuperMatrix *B, SuperMatrix *X,                     \
-         FLOATTYPE *recip_pivot_growth,                      \
-         FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr, \
-         SuperLUStat_t *stats, int *info, KEYTYPE) {         \
-    using namespace NAMESPACE; \
-    mem_usage_t mem_usage;                                    \
-    NAMESPACE::FNAME(options, A, perm_c, perm_r, etree, equed, R, C, L,  \
-         U, work, lwork, B, X, recip_pivot_growth, rcond,    \
-         ferr, berr, &mem_usage, stats, info);               \
-    return mem_usage.for_lu; /* bytes used by the factor storage */     \
-  }
-
-DECL_GSSVX(SuperLU_S,sgssvx,float,float)
-DECL_GSSVX(SuperLU_C,cgssvx,float,std::complex<float>)
-DECL_GSSVX(SuperLU_D,dgssvx,double,double)
-DECL_GSSVX(SuperLU_Z,zgssvx,double,std::complex<double>)
-
-template<typename MatrixType>
-struct SluMatrixMapHelper;
-
-/** \internal
-  *
-  * A wrapper class for SuperLU matrices. It supports only compressed sparse matrices
-  * and dense matrices. Supernodal and other fancy format are not supported by this wrapper.
-  *
-  * This wrapper class mainly aims to avoids the need of dynamic allocation of the storage structure.
-  */
-struct SluMatrix : SuperMatrix
-{
-  SluMatrix()
-  {
-    Store = &storage;
-  }
-
-  SluMatrix(const SluMatrix& other)
-    : SuperMatrix(other)
-  {
-    Store = &storage;
-    storage = other.storage;
-  }
-  
-  SluMatrix& operator=(const SluMatrix& other)
-  {
-    SuperMatrix::operator=(static_cast<const SuperMatrix&>(other));
-    Store = &storage;
-    storage = other.storage;
-    return *this;
-  }
-
-  struct
-  {
-    union {int nnz;int lda;};
-    void *values;
-    int *innerInd;
-    int *outerInd;
-  } storage;
-
-  void setStorageType(Stype_t t)
-  {
-    Stype = t;
-    if (t==SLU_NC || t==SLU_NR || t==SLU_DN)
-      Store = &storage;
-    else
-    {
-      ei_assert(false && "storage type not supported");
-      Store = 0;
-    }
-  }
-
-  template<typename Scalar>
-  void setScalarType()
-  {
-    if (ei_is_same_type<Scalar,float>::ret)
-      Dtype = SLU_S;
-    else if (ei_is_same_type<Scalar,double>::ret)
-      Dtype = SLU_D;
-    else if (ei_is_same_type<Scalar,std::complex<float> >::ret)
-      Dtype = SLU_C;
-    else if (ei_is_same_type<Scalar,std::complex<double> >::ret)
-      Dtype = SLU_Z;
-    else
-    {
-      ei_assert(false && "Scalar type not supported by SuperLU");
-    }
-  }
-
-  template<typename Scalar, int Rows, int Cols, int Options, int MRows, int MCols>
-  static SluMatrix Map(Matrix<Scalar,Rows,Cols,Options,MRows,MCols>& mat)
-  {
-    typedef Matrix<Scalar,Rows,Cols,Options,MRows,MCols> MatrixType;
-    ei_assert( ((Options&RowMajor)!=RowMajor) && "row-major dense matrices is not supported by SuperLU");
-    SluMatrix res;
-    res.setStorageType(SLU_DN);
-    res.setScalarType<Scalar>();
-    res.Mtype     = SLU_GE;
-
-    res.nrow      = mat.rows();
-    res.ncol      = mat.cols();
-
-    res.storage.lda       = mat.stride();
-    res.storage.values    = mat.data();
-    return res;
-  }
-
-  template<typename MatrixType>
-  static SluMatrix Map(SparseMatrixBase<MatrixType>& mat)
-  {
-    SluMatrix res;
-    if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
-    {
-      res.setStorageType(SLU_NR);
-      res.nrow      = mat.cols();
-      res.ncol      = mat.rows();
-    }
-    else
-    {
-      res.setStorageType(SLU_NC);
-      res.nrow      = mat.rows();
-      res.ncol      = mat.cols();
-    }
-
-    res.Mtype     = SLU_GE;
-
-    res.storage.nnz       = mat.nonZeros();
-    res.storage.values    = mat.derived()._valuePtr();
-    res.storage.innerInd  = mat.derived()._innerIndexPtr();
-    res.storage.outerInd  = mat.derived()._outerIndexPtr();
-
-    res.setScalarType<typename MatrixType::Scalar>();
-
-    // FIXME the following is not very accurate
-    if (MatrixType::Flags & UpperTriangular)
-      res.Mtype = SLU_TRU;
-    if (MatrixType::Flags & LowerTriangular)
-      res.Mtype = SLU_TRL;
-    if (MatrixType::Flags & SelfAdjoint)
-      ei_assert(false && "SelfAdjoint matrix shape not supported by SuperLU");
-    return res;
-  }
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MRows, int MCols>
-struct SluMatrixMapHelper<Matrix<Scalar,Rows,Cols,Options,MRows,MCols> >
-{
-  typedef Matrix<Scalar,Rows,Cols,Options,MRows,MCols> MatrixType;
-  static void run(MatrixType& mat, SluMatrix& res)
-  {
-    ei_assert( ((Options&RowMajor)!=RowMajor) && "row-major dense matrices is not supported by SuperLU");
-    res.setStorageType(SLU_DN);
-    res.setScalarType<Scalar>();
-    res.Mtype     = SLU_GE;
-
-    res.nrow      = mat.rows();
-    res.ncol      = mat.cols();
-
-    res.storage.lda       = mat.stride();
-    res.storage.values    = mat.data();
-  }
-};
-
-template<typename Derived>
-struct SluMatrixMapHelper<SparseMatrixBase<Derived> >
-{
-  typedef Derived MatrixType;
-  static void run(MatrixType& mat, SluMatrix& res)
-  {
-    if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
-    {
-      res.setStorageType(SLU_NR);
-      res.nrow      = mat.cols();
-      res.ncol      = mat.rows();
-    }
-    else
-    {
-      res.setStorageType(SLU_NC);
-      res.nrow      = mat.rows();
-      res.ncol      = mat.cols();
-    }
-
-    res.Mtype     = SLU_GE;
-
-    res.storage.nnz       = mat.nonZeros();
-    res.storage.values    = mat._valuePtr();
-    res.storage.innerInd  = mat._innerIndexPtr();
-    res.storage.outerInd  = mat._outerIndexPtr();
-
-    res.setScalarType<typename MatrixType::Scalar>();
-
-    // FIXME the following is not very accurate
-    if (MatrixType::Flags & UpperTriangular)
-      res.Mtype = SLU_TRU;
-    if (MatrixType::Flags & LowerTriangular)
-      res.Mtype = SLU_TRL;
-    if (MatrixType::Flags & SelfAdjoint)
-      ei_assert(false && "SelfAdjoint matrix shape not supported by SuperLU");
-  }
-};
-
-template<typename Derived>
-SluMatrix SparseMatrixBase<Derived>::asSluMatrix()
-{
-  return SluMatrix::Map(derived());
-}
-
-/** View a Super LU matrix as an Eigen expression */
-template<typename Scalar, int Flags>
-MappedSparseMatrix<Scalar,Flags>::MappedSparseMatrix(SluMatrix& sluMat)
-{
-  if ((Flags&RowMajorBit)==RowMajorBit)
-  {
-    assert(sluMat.Stype == SLU_NR);
-    m_innerSize   = sluMat.ncol;
-    m_outerSize   = sluMat.nrow;
-  }
-  else
-  {
-    assert(sluMat.Stype == SLU_NC);
-    m_innerSize   = sluMat.nrow;
-    m_outerSize   = sluMat.ncol;
-  }
-  m_outerIndex = sluMat.storage.outerInd;
-  m_innerIndices = sluMat.storage.innerInd;
-  m_values = reinterpret_cast<Scalar*>(sluMat.storage.values);
-  m_nnz = sluMat.storage.outerInd[m_outerSize];
-}
-
-template<typename MatrixType>
-class SparseLU<MatrixType,SuperLU> : public SparseLU<MatrixType>
-{
-  protected:
-    typedef SparseLU<MatrixType> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef SparseMatrix<Scalar,LowerTriangular|UnitDiagBit> LMatrixType;
-    typedef SparseMatrix<Scalar,UpperTriangular> UMatrixType;
-    using Base::m_flags;
-    using Base::m_status;
-
-  public:
-
-    SparseLU(int flags = NaturalOrdering)
-      : Base(flags)
-    {
-    }
-
-    SparseLU(const MatrixType& matrix, int flags = NaturalOrdering)
-      : Base(flags)
-    {
-      compute(matrix);
-    }
-
-    ~SparseLU()
-    {
-    }
-
-    inline const LMatrixType& matrixL() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_l;
-    }
-
-    inline const UMatrixType& matrixU() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_u;
-    }
-
-    inline const IntColVectorType& permutationP() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_p;
-    }
-
-    inline const IntRowVectorType& permutationQ() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_q;
-    }
-
-    Scalar determinant() const;
-
-    template<typename BDerived, typename XDerived>
-    bool solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-
-    void extractData() const;
-
-  protected:
-    // cached data to reduce reallocation, etc.
-    mutable LMatrixType m_l;
-    mutable UMatrixType m_u;
-    mutable IntColVectorType m_p;
-    mutable IntRowVectorType m_q;
-
-    mutable SparseMatrix<Scalar> m_matrix;
-    mutable SluMatrix m_sluA;
-    mutable SuperMatrix m_sluL, m_sluU;
-    mutable SluMatrix m_sluB, m_sluX;
-    mutable SuperLUStat_t m_sluStat;
-    mutable superlu_options_t m_sluOptions;
-    mutable std::vector<int> m_sluEtree;
-    mutable std::vector<RealScalar> m_sluRscale, m_sluCscale;
-    mutable std::vector<RealScalar> m_sluFerr, m_sluBerr;
-    mutable char m_sluEqued;
-    mutable bool m_extractedDataAreDirty;
-};
-
-template<typename MatrixType>
-void SparseLU<MatrixType,SuperLU>::compute(const MatrixType& a)
-{
-  const int size = a.rows();
-  m_matrix = a;
-
-  set_default_options(&m_sluOptions);
-  m_sluOptions.ColPerm = NATURAL;
-  m_sluOptions.PrintStat = NO;
-  m_sluOptions.ConditionNumber = NO;
-  m_sluOptions.Trans = NOTRANS;
-  // m_sluOptions.Equil = NO;
-
-  switch (Base::orderingMethod())
-  {
-      case NaturalOrdering          : m_sluOptions.ColPerm = NATURAL; break;
-      case MinimumDegree_AT_PLUS_A  : m_sluOptions.ColPerm = MMD_AT_PLUS_A; break;
-      case MinimumDegree_ATA        : m_sluOptions.ColPerm = MMD_ATA; break;
-      case ColApproxMinimumDegree   : m_sluOptions.ColPerm = COLAMD; break;
-      default:
-        std::cerr << "Eigen: ordering method \"" << Base::orderingMethod() << "\" not supported by the SuperLU backend\n";
-        m_sluOptions.ColPerm = NATURAL;
-  };
-
-  m_sluA = m_matrix.asSluMatrix();
-  memset(&m_sluL,0,sizeof m_sluL);
-  memset(&m_sluU,0,sizeof m_sluU);
-  m_sluEqued = 'B';
-  int info = 0;
-
-  m_p.resize(size);
-  m_q.resize(size);
-  m_sluRscale.resize(size);
-  m_sluCscale.resize(size);
-  m_sluEtree.resize(size);
-
-  RealScalar recip_pivot_gross, rcond;
-  RealScalar ferr, berr;
-
-  // set empty B and X
-  m_sluB.setStorageType(SLU_DN);
-  m_sluB.setScalarType<Scalar>();
-  m_sluB.Mtype = SLU_GE;
-  m_sluB.storage.values = 0;
-  m_sluB.nrow = m_sluB.ncol = 0;
-  m_sluB.storage.lda = size;
-  m_sluX = m_sluB;
-
-  StatInit(&m_sluStat);
-  SuperLU_gssvx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0],
-          &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0],
-          &m_sluL, &m_sluU,
-          NULL, 0,
-          &m_sluB, &m_sluX,
-          &recip_pivot_gross, &rcond,
-          &ferr, &berr,
-          &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-
-  m_extractedDataAreDirty = true;
-
-  // FIXME how to better check for errors ???
-  Base::m_succeeded = (info == 0);
-}
-
-template<typename MatrixType>
-template<typename BDerived,typename XDerived>
-bool SparseLU<MatrixType,SuperLU>::solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> *x) const
-{
-  const int size = m_matrix.rows();
-  const int rhsCols = b.cols();
-  ei_assert(size==b.rows());
-
-  m_sluOptions.Fact = FACTORED;
-  m_sluOptions.IterRefine = NOREFINE;
-
-  m_sluFerr.resize(rhsCols);
-  m_sluBerr.resize(rhsCols);
-  m_sluB = SluMatrix::Map(b.const_cast_derived());
-  m_sluX = SluMatrix::Map(x->derived());
-
-  StatInit(&m_sluStat);
-  int info = 0;
-  RealScalar recip_pivot_gross, rcond;
-  SuperLU_gssvx(
-    &m_sluOptions, &m_sluA,
-    m_q.data(), m_p.data(),
-    &m_sluEtree[0], &m_sluEqued,
-    &m_sluRscale[0], &m_sluCscale[0],
-    &m_sluL, &m_sluU,
-    NULL, 0,
-    &m_sluB, &m_sluX,
-    &recip_pivot_gross, &rcond,
-    &m_sluFerr[0], &m_sluBerr[0],
-    &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-
-  return info==0;
-}
-
-//
-// the code of this extractData() function has been adapted from the SuperLU's Matlab support code,
-//
-//  Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
-//
-//  THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
-//  EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
-//
-template<typename MatrixType>
-void SparseLU<MatrixType,SuperLU>::extractData() const
-{
-  if (m_extractedDataAreDirty)
-  {
-    int         upper;
-    int         fsupc, istart, nsupr;
-    int         lastl = 0, lastu = 0;
-    SCformat    *Lstore = static_cast<SCformat*>(m_sluL.Store);
-    NCformat    *Ustore = static_cast<NCformat*>(m_sluU.Store);
-    Scalar      *SNptr;
-
-    const int size = m_matrix.rows();
-    m_l.resize(size,size);
-    m_l.resizeNonZeros(Lstore->nnz);
-    m_u.resize(size,size);
-    m_u.resizeNonZeros(Ustore->nnz);
-
-    int* Lcol = m_l._outerIndexPtr();
-    int* Lrow = m_l._innerIndexPtr();
-    Scalar* Lval = m_l._valuePtr();
-
-    int* Ucol = m_u._outerIndexPtr();
-    int* Urow = m_u._innerIndexPtr();
-    Scalar* Uval = m_u._valuePtr();
-
-    Ucol[0] = 0;
-    Ucol[0] = 0;
-
-    /* for each supernode */
-    for (int k = 0; k <= Lstore->nsuper; ++k)
-    {
-      fsupc   = L_FST_SUPC(k);
-      istart  = L_SUB_START(fsupc);
-      nsupr   = L_SUB_START(fsupc+1) - istart;
-      upper   = 1;
-
-      /* for each column in the supernode */
-      for (int j = fsupc; j < L_FST_SUPC(k+1); ++j)
-      {
-        SNptr = &((Scalar*)Lstore->nzval)[L_NZ_START(j)];
-
-        /* Extract U */
-        for (int i = U_NZ_START(j); i < U_NZ_START(j+1); ++i)
-        {
-          Uval[lastu] = ((Scalar*)Ustore->nzval)[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Uval[lastu] != 0.0)
-            Urow[lastu++] = U_SUB(i);
-        }
-        for (int i = 0; i < upper; ++i)
-        {
-          /* upper triangle in the supernode */
-          Uval[lastu] = SNptr[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Uval[lastu] != 0.0)
-            Urow[lastu++] = L_SUB(istart+i);
-        }
-        Ucol[j+1] = lastu;
-
-        /* Extract L */
-        Lval[lastl] = 1.0; /* unit diagonal */
-        Lrow[lastl++] = L_SUB(istart + upper - 1);
-        for (int i = upper; i < nsupr; ++i)
-        {
-          Lval[lastl] = SNptr[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Lval[lastl] != 0.0)
-            Lrow[lastl++] = L_SUB(istart+i);
-        }
-        Lcol[j+1] = lastl;
-
-        ++upper;
-      } /* for j ... */
-
-    } /* for k ... */
-
-    // squeeze the matrices :
-    m_l.resizeNonZeros(lastl);
-    m_u.resizeNonZeros(lastu);
-
-    m_extractedDataAreDirty = false;
-  }
-}
-
-template<typename MatrixType>
-typename SparseLU<MatrixType,SuperLU>::Scalar SparseLU<MatrixType,SuperLU>::determinant() const
-{
-  if (m_extractedDataAreDirty)
-    extractData();
-
-  // TODO this code coule be moved to the default/base backend
-  // FIXME perhaps we have to take into account the scale factors m_sluRscale and m_sluCscale ???
-  Scalar det = Scalar(1);
-  for (int j=0; j<m_u.cols(); ++j)
-  {
-    if (m_u._outerIndexPtr()[j+1]-m_u._outerIndexPtr()[j] > 0)
-    {
-      int lastId = m_u._outerIndexPtr()[j+1]-1;
-      ei_assert(m_u._innerIndexPtr()[lastId]<=j);
-      if (m_u._innerIndexPtr()[lastId]==j)
-      {
-        det *= m_u._valuePtr()[lastId];
-      }
-    }
-    // std::cout << m_sluRscale[j] << " " << m_sluCscale[j] << "   ";
-  }
-  return det;
-}
-
-#endif // EIGEN_SUPERLUSUPPORT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/TaucsSupport.h b/extern/Eigen2/Eigen/src/Sparse/TaucsSupport.h
deleted file mode 100644
index 4dddca7b622..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/TaucsSupport.h
+++ /dev/null
@@ -1,210 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_TAUCSSUPPORT_H
-#define EIGEN_TAUCSSUPPORT_H
-
-template<typename Derived>
-taucs_ccs_matrix SparseMatrixBase<Derived>::asTaucsMatrix()
-{
-  taucs_ccs_matrix res;
-  res.n         = cols();
-  res.m         = rows();
-  res.flags     = 0;
-  res.colptr    = derived()._outerIndexPtr();
-  res.rowind    = derived()._innerIndexPtr();
-  res.values.v  = derived()._valuePtr();
-  if (ei_is_same_type<Scalar,int>::ret)
-    res.flags |= TAUCS_INT;
-  else if (ei_is_same_type<Scalar,float>::ret)
-    res.flags |= TAUCS_SINGLE;
-  else if (ei_is_same_type<Scalar,double>::ret)
-    res.flags |= TAUCS_DOUBLE;
-  else if (ei_is_same_type<Scalar,std::complex<float> >::ret)
-    res.flags |= TAUCS_SCOMPLEX;
-  else if (ei_is_same_type<Scalar,std::complex<double> >::ret)
-    res.flags |= TAUCS_DCOMPLEX;
-  else
-  {
-    ei_assert(false && "Scalar type not supported by TAUCS");
-  }
-
-  if (Flags & UpperTriangular)
-    res.flags |= TAUCS_UPPER;
-  if (Flags & LowerTriangular)
-    res.flags |= TAUCS_LOWER;
-  if (Flags & SelfAdjoint)
-    res.flags |= (NumTraits<Scalar>::IsComplex ? TAUCS_HERMITIAN : TAUCS_SYMMETRIC);
-  else if ((Flags & UpperTriangular) || (Flags & LowerTriangular))
-    res.flags |= TAUCS_TRIANGULAR;
-
-  return res;
-}
-
-template<typename Scalar, int Flags>
-MappedSparseMatrix<Scalar,Flags>::MappedSparseMatrix(taucs_ccs_matrix& taucsMat)
-{
-  m_innerSize = taucsMat.m;
-  m_outerSize = taucsMat.n;
-  m_outerIndex = taucsMat.colptr;
-  m_innerIndices = taucsMat.rowind;
-  m_values = reinterpret_cast<Scalar*>(taucsMat.values.v);
-  m_nnz = taucsMat.colptr[taucsMat.n];
-}
-
-template<typename MatrixType>
-class SparseLLT<MatrixType,Taucs> : public SparseLLT<MatrixType>
-{
-  protected:
-    typedef SparseLLT<MatrixType> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    using Base::MatrixLIsDirty;
-    using Base::SupernodalFactorIsDirty;
-    using Base::m_flags;
-    using Base::m_matrix;
-    using Base::m_status;
-
-  public:
-
-    SparseLLT(int flags = 0)
-      : Base(flags), m_taucsSupernodalFactor(0)
-    {
-    }
-
-    SparseLLT(const MatrixType& matrix, int flags = 0)
-      : Base(flags), m_taucsSupernodalFactor(0)
-    {
-      compute(matrix);
-    }
-
-    ~SparseLLT()
-    {
-      if (m_taucsSupernodalFactor)
-        taucs_supernodal_factor_free(m_taucsSupernodalFactor);
-    }
-
-    inline const typename Base::CholMatrixType& matrixL(void) const;
-
-    template<typename Derived>
-    void solveInPlace(MatrixBase<Derived> &b) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-    void* m_taucsSupernodalFactor;
-};
-
-template<typename MatrixType>
-void SparseLLT<MatrixType,Taucs>::compute(const MatrixType& a)
-{
-  if (m_taucsSupernodalFactor)
-  {
-    taucs_supernodal_factor_free(m_taucsSupernodalFactor);
-    m_taucsSupernodalFactor = 0;
-  }
-
-  if (m_flags & IncompleteFactorization)
-  {
-    taucs_ccs_matrix taucsMatA = const_cast<MatrixType&>(a).asTaucsMatrix();
-    taucs_ccs_matrix* taucsRes = taucs_ccs_factor_llt(&taucsMatA, Base::m_precision, 0);
-    // the matrix returned by Taucs is not necessarily sorted,
-    // so let's copy it in two steps
-    DynamicSparseMatrix<Scalar,RowMajor> tmp = MappedSparseMatrix<Scalar>(*taucsRes);
-    m_matrix = tmp;
-    free(taucsRes);
-    m_status = (m_status & ~(CompleteFactorization|MatrixLIsDirty))
-             | IncompleteFactorization
-             | SupernodalFactorIsDirty;
-  }
-  else
-  {
-    taucs_ccs_matrix taucsMatA = const_cast<MatrixType&>(a).asTaucsMatrix();
-    if ( (m_flags & SupernodalLeftLooking)
-      || ((!(m_flags & SupernodalMultifrontal)) && (m_flags & MemoryEfficient)) )
-    {
-      m_taucsSupernodalFactor = taucs_ccs_factor_llt_ll(&taucsMatA);
-    }
-    else
-    {
-      // use the faster Multifrontal routine
-      m_taucsSupernodalFactor = taucs_ccs_factor_llt_mf(&taucsMatA);
-    }
-    m_status = (m_status & ~IncompleteFactorization) | CompleteFactorization | MatrixLIsDirty;
-  }
-}
-
-template<typename MatrixType>
-inline const typename SparseLLT<MatrixType>::CholMatrixType&
-SparseLLT<MatrixType,Taucs>::matrixL() const
-{
-  if (m_status & MatrixLIsDirty)
-  {
-    ei_assert(!(m_status & SupernodalFactorIsDirty));
-
-    taucs_ccs_matrix* taucsL = taucs_supernodal_factor_to_ccs(m_taucsSupernodalFactor);
-
-    // the matrix returned by Taucs is not necessarily sorted,
-    // so let's copy it in two steps
-    DynamicSparseMatrix<Scalar,RowMajor> tmp = MappedSparseMatrix<Scalar>(*taucsL);
-    const_cast<typename Base::CholMatrixType&>(m_matrix) = tmp;
-    free(taucsL);
-    m_status = (m_status & ~MatrixLIsDirty);
-  }
-  return m_matrix;
-}
-
-template<typename MatrixType>
-template<typename Derived>
-void SparseLLT<MatrixType,Taucs>::solveInPlace(MatrixBase<Derived> &b) const
-{
-  bool inputIsCompatibleWithTaucs = (Derived::Flags&RowMajorBit)==0;
-
-  if (!inputIsCompatibleWithTaucs)
-  {
-    matrixL();
-    Base::solveInPlace(b);
-  }
-  else if (m_flags & IncompleteFactorization)
-  {
-    taucs_ccs_matrix taucsLLT = const_cast<typename Base::CholMatrixType&>(m_matrix).asTaucsMatrix();
-    typename ei_plain_matrix_type<Derived>::type x(b.rows());
-    for (int j=0; j<b.cols(); ++j)
-    {
-      taucs_ccs_solve_llt(&taucsLLT,x.data(),&b.col(j).coeffRef(0));
-      b.col(j) = x;
-    }
-  }
-  else
-  {
-    typename ei_plain_matrix_type<Derived>::type x(b.rows());
-    for (int j=0; j<b.cols(); ++j)
-    {
-      taucs_supernodal_solve_llt(m_taucsSupernodalFactor,x.data(),&b.col(j).coeffRef(0));
-      b.col(j) = x;
-    }
-  }
-}
-
-#endif // EIGEN_TAUCSSUPPORT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/TriangularSolver.h b/extern/Eigen2/Eigen/src/Sparse/TriangularSolver.h
deleted file mode 100644
index 8948ae45e1d..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/TriangularSolver.h
+++ /dev/null
@@ -1,178 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_SPARSETRIANGULARSOLVER_H
-#define EIGEN_SPARSETRIANGULARSOLVER_H
-
-// forward substitution, row-major
-template<typename Lhs, typename Rhs>
-struct ei_solve_triangular_selector<Lhs,Rhs,LowerTriangular,RowMajor|IsSparse>
-{
-  typedef typename Rhs::Scalar Scalar;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    for(int col=0 ; col<other.cols() ; ++col)
-    {
-      for(int i=0; i<lhs.rows(); ++i)
-      {
-        Scalar tmp = other.coeff(i,col);
-        Scalar lastVal = 0;
-        int lastIndex = 0;
-        for(typename Lhs::InnerIterator it(lhs, i); it; ++it)
-        {
-          lastVal = it.value();
-          lastIndex = it.index();
-          tmp -= lastVal * other.coeff(lastIndex,col);
-        }
-        if (Lhs::Flags & UnitDiagBit)
-          other.coeffRef(i,col) = tmp;
-        else
-        {
-          ei_assert(lastIndex==i);
-          other.coeffRef(i,col) = tmp/lastVal;
-        }
-      }
-    }
-  }
-};
-
-// backward substitution, row-major
-template<typename Lhs, typename Rhs>
-struct ei_solve_triangular_selector<Lhs,Rhs,UpperTriangular,RowMajor|IsSparse>
-{
-  typedef typename Rhs::Scalar Scalar;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    for(int col=0 ; col<other.cols() ; ++col)
-    {
-      for(int i=lhs.rows()-1 ; i>=0 ; --i)
-      {
-        Scalar tmp = other.coeff(i,col);
-        typename Lhs::InnerIterator it(lhs, i);
-        if (it.index() == i)
-          ++it;
-        for(; it; ++it)
-        {
-          tmp -= it.value() * other.coeff(it.index(),col);
-        }
-
-        if (Lhs::Flags & UnitDiagBit)
-          other.coeffRef(i,col) = tmp;
-        else
-        {
-          typename Lhs::InnerIterator it(lhs, i);
-          ei_assert(it.index() == i);
-          other.coeffRef(i,col) = tmp/it.value();
-        }
-      }
-    }
-  }
-};
-
-// forward substitution, col-major
-template<typename Lhs, typename Rhs>
-struct ei_solve_triangular_selector<Lhs,Rhs,LowerTriangular,ColMajor|IsSparse>
-{
-  typedef typename Rhs::Scalar Scalar;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    for(int col=0 ; col<other.cols() ; ++col)
-    {
-      for(int i=0; i<lhs.cols(); ++i)
-      {
-        typename Lhs::InnerIterator it(lhs, i);
-        if(!(Lhs::Flags & UnitDiagBit))
-        {
-          // std::cerr << it.value() << " ; " << it.index() << " == " << i << "\n";
-          ei_assert(it.index()==i);
-          other.coeffRef(i,col) /= it.value();
-        }
-        Scalar tmp = other.coeffRef(i,col);
-        if (it.index()==i)
-          ++it;
-        for(; it; ++it)
-          other.coeffRef(it.index(), col) -= tmp * it.value();
-      }
-    }
-  }
-};
-
-// backward substitution, col-major
-template<typename Lhs, typename Rhs>
-struct ei_solve_triangular_selector<Lhs,Rhs,UpperTriangular,ColMajor|IsSparse>
-{
-  typedef typename Rhs::Scalar Scalar;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    for(int col=0 ; col<other.cols() ; ++col)
-    {
-      for(int i=lhs.cols()-1; i>=0; --i)
-      {
-        if(!(Lhs::Flags & UnitDiagBit))
-        {
-          // FIXME lhs.coeff(i,i) might not be always efficient while it must simply be the
-          // last element of the column !
-          other.coeffRef(i,col) /= lhs.coeff(i,i);
-        }
-        Scalar tmp = other.coeffRef(i,col);
-        typename Lhs::InnerIterator it(lhs, i);
-        for(; it && it.index()<i; ++it)
-          other.coeffRef(it.index(), col) -= tmp * it.value();
-      }
-    }
-  }
-};
-
-template<typename Derived>
-template<typename OtherDerived>
-void SparseMatrixBase<Derived>::solveTriangularInPlace(MatrixBase<OtherDerived>& other) const
-{
-  ei_assert(derived().cols() == derived().rows());
-  ei_assert(derived().cols() == other.rows());
-  ei_assert(!(Flags & ZeroDiagBit));
-  ei_assert(Flags & (UpperTriangularBit|LowerTriangularBit));
-
-  enum { copy = ei_traits<OtherDerived>::Flags & RowMajorBit };
-
-  typedef typename ei_meta_if<copy,
-    typename ei_plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::ret OtherCopy;
-  OtherCopy otherCopy(other.derived());
-
-  ei_solve_triangular_selector<Derived, typename ei_unref<OtherCopy>::type>::run(derived(), otherCopy);
-
-  if (copy)
-    other = otherCopy;
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-typename ei_plain_matrix_type_column_major<OtherDerived>::type
-SparseMatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  typename ei_plain_matrix_type_column_major<OtherDerived>::type res(other);
-  solveTriangularInPlace(res);
-  return res;
-}
-
-#endif // EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/UmfPackSupport.h b/extern/Eigen2/Eigen/src/Sparse/UmfPackSupport.h
deleted file mode 100644
index b76ffb25248..00000000000
--- a/extern/Eigen2/Eigen/src/Sparse/UmfPackSupport.h
+++ /dev/null
@@ -1,289 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_UMFPACKSUPPORT_H
-#define EIGEN_UMFPACKSUPPORT_H
-
-/* TODO extract L, extract U, compute det, etc... */
-
-// generic double/complex<double> wrapper functions:
-
-inline void umfpack_free_numeric(void **Numeric, double)
-{ umfpack_di_free_numeric(Numeric); }
-
-inline void umfpack_free_numeric(void **Numeric, std::complex<double>)
-{ umfpack_zi_free_numeric(Numeric); }
-
-inline void umfpack_free_symbolic(void **Symbolic, double)
-{ umfpack_di_free_symbolic(Symbolic); }
-
-inline void umfpack_free_symbolic(void **Symbolic, std::complex<double>)
-{ umfpack_zi_free_symbolic(Symbolic); }
-
-inline int umfpack_symbolic(int n_row,int n_col,
-                            const int Ap[], const int Ai[], const double Ax[], void **Symbolic,
-                            const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
-{
-  return umfpack_di_symbolic(n_row,n_col,Ap,Ai,Ax,Symbolic,Control,Info);
-}
-
-inline int umfpack_symbolic(int n_row,int n_col,
-                            const int Ap[], const int Ai[], const std::complex<double> Ax[], void **Symbolic,
-                            const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
-{
-  return umfpack_zi_symbolic(n_row,n_col,Ap,Ai,&Ax[0].real(),0,Symbolic,Control,Info);
-}
-
-inline int umfpack_numeric( const int Ap[], const int Ai[], const double Ax[],
-                            void *Symbolic, void **Numeric,
-                            const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
-{
-  return umfpack_di_numeric(Ap,Ai,Ax,Symbolic,Numeric,Control,Info);
-}
-
-inline int umfpack_numeric( const int Ap[], const int Ai[], const std::complex<double> Ax[],
-                            void *Symbolic, void **Numeric,
-                            const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
-{
-  return umfpack_zi_numeric(Ap,Ai,&Ax[0].real(),0,Symbolic,Numeric,Control,Info);
-}
-
-inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const double Ax[],
-                          double X[], const double B[], void *Numeric,
-                          const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO])
-{
-  return umfpack_di_solve(sys,Ap,Ai,Ax,X,B,Numeric,Control,Info);
-}
-
-inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const std::complex<double> Ax[],
-                          std::complex<double> X[], const std::complex<double> B[], void *Numeric,
-                          const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO])
-{
-  return umfpack_zi_solve(sys,Ap,Ai,&Ax[0].real(),0,&X[0].real(),0,&B[0].real(),0,Numeric,Control,Info);
-}
-
-inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, double)
-{
-  return umfpack_di_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
-}
-
-inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, std::complex<double>)
-{
-  return umfpack_zi_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
-}
-
-inline int umfpack_get_numeric(int Lp[], int Lj[], double Lx[], int Up[], int Ui[], double Ux[],
-                               int P[], int Q[], double Dx[], int *do_recip, double Rs[], void *Numeric)
-{
-  return umfpack_di_get_numeric(Lp,Lj,Lx,Up,Ui,Ux,P,Q,Dx,do_recip,Rs,Numeric);
-}
-
-inline int umfpack_get_numeric(int Lp[], int Lj[], std::complex<double> Lx[], int Up[], int Ui[], std::complex<double> Ux[],
-                               int P[], int Q[], std::complex<double> Dx[], int *do_recip, double Rs[], void *Numeric)
-{
-  return umfpack_zi_get_numeric(Lp,Lj,Lx?&Lx[0].real():0,0,Up,Ui,Ux?&Ux[0].real():0,0,P,Q,
-                               Dx?&Dx[0].real():0,0,do_recip,Rs,Numeric);
-}
-
-inline int umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO])
-{
-  return umfpack_di_get_determinant(Mx,Ex,NumericHandle,User_Info);
-}
-
-inline int umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO])
-{
-  return umfpack_zi_get_determinant(&Mx->real(),0,Ex,NumericHandle,User_Info);
-}
-
-
-template<typename MatrixType>
-class SparseLU<MatrixType,UmfPack> : public SparseLU<MatrixType>
-{
-  protected:
-    typedef SparseLU<MatrixType> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef SparseMatrix<Scalar,LowerTriangular|UnitDiagBit> LMatrixType;
-    typedef SparseMatrix<Scalar,UpperTriangular> UMatrixType;
-    using Base::m_flags;
-    using Base::m_status;
-
-  public:
-
-    SparseLU(int flags = NaturalOrdering)
-      : Base(flags), m_numeric(0)
-    {
-    }
-
-    SparseLU(const MatrixType& matrix, int flags = NaturalOrdering)
-      : Base(flags), m_numeric(0)
-    {
-      compute(matrix);
-    }
-
-    ~SparseLU()
-    {
-      if (m_numeric)
-        umfpack_free_numeric(&m_numeric,Scalar());
-    }
-
-    inline const LMatrixType& matrixL() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_l;
-    }
-
-    inline const UMatrixType& matrixU() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_u;
-    }
-
-    inline const IntColVectorType& permutationP() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_p;
-    }
-
-    inline const IntRowVectorType& permutationQ() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_q;
-    }
-
-    Scalar determinant() const;
-
-    template<typename BDerived, typename XDerived>
-    bool solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x) const;
-
-    void compute(const MatrixType& matrix);
-
-  protected:
-
-    void extractData() const;
-  
-  protected:
-    // cached data:
-    void* m_numeric;
-    const MatrixType* m_matrixRef;
-    mutable LMatrixType m_l;
-    mutable UMatrixType m_u;
-    mutable IntColVectorType m_p;
-    mutable IntRowVectorType m_q;
-    mutable bool m_extractedDataAreDirty;
-};
-
-template<typename MatrixType>
-void SparseLU<MatrixType,UmfPack>::compute(const MatrixType& a)
-{
-  const int rows = a.rows();
-  const int cols = a.cols();
-  ei_assert((MatrixType::Flags&RowMajorBit)==0 && "Row major matrices are not supported yet");
-
-  m_matrixRef = &a;
-
-  if (m_numeric)
-    umfpack_free_numeric(&m_numeric,Scalar());
-
-  void* symbolic;
-  int errorCode = 0;
-  errorCode = umfpack_symbolic(rows, cols, a._outerIndexPtr(), a._innerIndexPtr(), a._valuePtr(),
-                                  &symbolic, 0, 0);
-  if (errorCode==0)
-    errorCode = umfpack_numeric(a._outerIndexPtr(), a._innerIndexPtr(), a._valuePtr(),
-                                   symbolic, &m_numeric, 0, 0);
-
-  umfpack_free_symbolic(&symbolic,Scalar());
-
-  m_extractedDataAreDirty = true;
-
-  Base::m_succeeded = (errorCode==0);
-}
-
-template<typename MatrixType>
-void SparseLU<MatrixType,UmfPack>::extractData() const
-{
-  if (m_extractedDataAreDirty)
-  {
-    // get size of the data
-    int lnz, unz, rows, cols, nz_udiag;
-    umfpack_get_lunz(&lnz, &unz, &rows, &cols, &nz_udiag, m_numeric, Scalar());
-
-    // allocate data
-    m_l.resize(rows,std::min(rows,cols));
-    m_l.resizeNonZeros(lnz);
-    
-    m_u.resize(std::min(rows,cols),cols);
-    m_u.resizeNonZeros(unz);
-
-    m_p.resize(rows);
-    m_q.resize(cols);
-
-    // extract
-    umfpack_get_numeric(m_l._outerIndexPtr(), m_l._innerIndexPtr(), m_l._valuePtr(),
-                        m_u._outerIndexPtr(), m_u._innerIndexPtr(), m_u._valuePtr(),
-                        m_p.data(), m_q.data(), 0, 0, 0, m_numeric);
-    
-    m_extractedDataAreDirty = false;
-  }
-}
-
-template<typename MatrixType>
-typename SparseLU<MatrixType,UmfPack>::Scalar SparseLU<MatrixType,UmfPack>::determinant() const
-{
-  Scalar det;
-  umfpack_get_determinant(&det, 0, m_numeric, 0);
-  return det;
-}
-
-template<typename MatrixType>
-template<typename BDerived,typename XDerived>
-bool SparseLU<MatrixType,UmfPack>::solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> *x) const
-{
-  //const int size = m_matrix.rows();
-  const int rhsCols = b.cols();
-//   ei_assert(size==b.rows());
-  ei_assert((BDerived::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major rhs yet");
-  ei_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major result yet");
-
-  int errorCode;
-  for (int j=0; j<rhsCols; ++j)
-  {
-    errorCode = umfpack_solve(UMFPACK_A,
-        m_matrixRef->_outerIndexPtr(), m_matrixRef->_innerIndexPtr(), m_matrixRef->_valuePtr(),
-        &x->col(j).coeffRef(0), &b.const_cast_derived().col(j).coeffRef(0), m_numeric, 0, 0);
-    if (errorCode!=0)
-      return false;
-  }
-//   errorCode = umfpack_di_solve(UMFPACK_A,
-//       m_matrixRef._outerIndexPtr(), m_matrixRef._innerIndexPtr(), m_matrixRef._valuePtr(),
-//       x->derived().data(), b.derived().data(), m_numeric, 0, 0);
-
-  return true;
-}
-
-#endif // EIGEN_UMFPACKSUPPORT_H
diff --git a/extern/Eigen3/Eigen/Array b/extern/Eigen3/Eigen/Array
new file mode 100644
index 00000000000..3d004fb69e8
--- /dev/null
+++ b/extern/Eigen3/Eigen/Array
@@ -0,0 +1,11 @@
+#ifndef EIGEN_ARRAY_MODULE_H
+#define EIGEN_ARRAY_MODULE_H
+
+// include Core first to handle Eigen2 support macros
+#include "Core"
+
+#ifndef EIGEN2_SUPPORT
+  #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
+#endif
+
+#endif // EIGEN_ARRAY_MODULE_H
diff --git a/extern/Eigen3/Eigen/Cholesky b/extern/Eigen3/Eigen/Cholesky
new file mode 100644
index 00000000000..53f7bf911a4
--- /dev/null
+++ b/extern/Eigen3/Eigen/Cholesky
@@ -0,0 +1,33 @@
+#ifndef EIGEN_CHOLESKY_MODULE_H
+#define EIGEN_CHOLESKY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Cholesky_Module Cholesky module
+  *
+  *
+  *
+  * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
+  * Those decompositions are accessible via the following MatrixBase methods:
+  *  - MatrixBase::llt(),
+  *  - MatrixBase::ldlt()
+  *
+  * \code
+  * #include <Eigen/Cholesky>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/Cholesky/LLT.h"
+#include "src/Cholesky/LDLT.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_CHOLESKY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/Core b/extern/Eigen3/Eigen/Core
new file mode 100644
index 00000000000..6e855427c33
--- /dev/null
+++ b/extern/Eigen3/Eigen/Core
@@ -0,0 +1,360 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CORE_H
+#define EIGEN_CORE_H
+
+// first thing Eigen does: stop the compiler from committing suicide
+#include "src/Core/util/DisableStupidWarnings.h"
+
+// then include this file where all our macros are defined. It's really important to do it first because
+// it's where we do all the alignment settings (platform detection and honoring the user's will if he
+// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
+#include "src/Core/util/Macros.h"
+
+// if alignment is disabled, then disable vectorization. Note: EIGEN_ALIGN is the proper check, it takes into
+// account both the user's will (EIGEN_DONT_ALIGN) and our own platform checks
+#if !EIGEN_ALIGN
+  #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+  #endif
+#endif
+
+#ifdef _MSC_VER
+  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
+  #if (_MSC_VER >= 1500) // 2008 or later
+    // Remember that usage of defined() in a #define is undefined by the standard.
+    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
+    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
+    #endif
+  #endif
+#else
+  // Remember that usage of defined() in a #define is undefined by the standard
+  #if (defined __SSE2__) && ( (!defined __GNUC__) || EIGEN_GNUC_AT_LEAST(4,2) )
+    #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
+  #endif
+#endif
+
+#ifndef EIGEN_DONT_VECTORIZE
+
+  #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
+
+    // Defines symbols for compile-time detection of which instructions are
+    // used.
+    // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_SSE
+    #define EIGEN_VECTORIZE_SSE2
+
+    // Detect sse3/ssse3/sse4:
+    // gcc and icc defines __SSE3__, ...
+    // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
+    // want to force the use of those instructions with msvc.
+    #ifdef __SSE3__
+      #define EIGEN_VECTORIZE_SSE3
+    #endif
+    #ifdef __SSSE3__
+      #define EIGEN_VECTORIZE_SSSE3
+    #endif
+    #ifdef __SSE4_1__
+      #define EIGEN_VECTORIZE_SSE4_1
+    #endif
+    #ifdef __SSE4_2__
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+
+    // include files
+
+    // This extern "C" works around a MINGW-w64 compilation issue
+    // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
+    // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
+    // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
+    // with conflicting linkage.  The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
+    // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
+    // notice that since these are C headers, the extern "C" is theoretically needed anyways.
+    extern "C" {
+      #include <emmintrin.h>
+      #include <xmmintrin.h>
+      #ifdef  EIGEN_VECTORIZE_SSE3
+      #include <pmmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSSE3
+      #include <tmmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSE4_1
+      #include <smmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSE4_2
+      #include <nmmintrin.h>
+      #endif
+    } // end extern "C"
+  #elif defined __ALTIVEC__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_ALTIVEC
+    #include <altivec.h>
+    // We need to #undef all these ugly tokens defined in <altivec.h>
+    // => use __vector instead of vector
+    #undef bool
+    #undef vector
+    #undef pixel
+  #elif defined  __ARM_NEON__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_NEON
+    #include <arm_neon.h>
+  #endif
+#endif
+
+#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
+  #define EIGEN_HAS_OPENMP
+#endif
+
+#ifdef EIGEN_HAS_OPENMP
+#include <omp.h>
+#endif
+
+// MSVC for windows mobile does not have the errno.h file
+#if !(defined(_MSC_VER) && defined(_WIN32_WCE))
+#define EIGEN_HAS_ERRNO
+#endif
+
+#ifdef EIGEN_HAS_ERRNO
+#include <cerrno>
+#endif
+#include <cstddef>
+#include <cstdlib>
+#include <cmath>
+#include <complex>
+#include <cassert>
+#include <functional>
+#include <iosfwd>
+#include <cstring>
+#include <string>
+#include <limits>
+#include <climits> // for CHAR_BIT
+// for min/max:
+#include <algorithm>
+
+// for outputting debug info
+#ifdef EIGEN_DEBUG_ASSIGN
+#include <iostream>
+#endif
+
+// required for __cpuid, needs to be included after cmath
+#if defined(_MSC_VER) && (defined(_M_IX86)||defined(_M_X64))
+  #include <intrin.h>
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
+  #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  #include <new>
+#endif
+
+// defined in bits/termios.h
+#undef B0
+
+/** \brief Namespace containing all symbols from the %Eigen library. */
+namespace Eigen {
+
+inline static const char *SimdInstructionSetsInUse(void) {
+#if defined(EIGEN_VECTORIZE_SSE4_2)
+  return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_1)
+  return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
+#elif defined(EIGEN_VECTORIZE_SSSE3)
+  return "SSE, SSE2, SSE3, SSSE3";
+#elif defined(EIGEN_VECTORIZE_SSE3)
+  return "SSE, SSE2, SSE3";
+#elif defined(EIGEN_VECTORIZE_SSE2)
+  return "SSE, SSE2";
+#elif defined(EIGEN_VECTORIZE_ALTIVEC)
+  return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_NEON)
+  return "ARM NEON";
+#else
+  return "None";
+#endif
+}
+
+#define STAGE10_FULL_EIGEN2_API             10
+#define STAGE20_RESOLVE_API_CONFLICTS       20
+#define STAGE30_FULL_EIGEN3_API             30
+#define STAGE40_FULL_EIGEN3_STRICTNESS      40
+#define STAGE99_NO_EIGEN2_SUPPORT           99
+
+#if   defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE40_FULL_EIGEN3_STRICTNESS
+#elif defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#elif defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE20_RESOLVE_API_CONFLICTS
+#elif defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE10_FULL_EIGEN2_API
+#elif defined EIGEN2_SUPPORT
+  // default to stage 3, that's what it's always meant
+  #define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#else
+  #define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#undef minor
+#endif
+
+// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
+// ensure QNX/QCC support
+using std::size_t;
+// gcc 4.6.0 wants std:: for ptrdiff_t 
+using std::ptrdiff_t;
+
+/** \defgroup Core_Module Core module
+  * This is the main module of Eigen providing dense matrix and vector support
+  * (both fixed and dynamic size) with all the features corresponding to a BLAS library
+  * and much more...
+  *
+  * \code
+  * #include <Eigen/Core>
+  * \endcode
+  */
+
+#include "src/Core/util/Constants.h"
+#include "src/Core/util/ForwardDeclarations.h"
+#include "src/Core/util/Meta.h"
+#include "src/Core/util/XprHelper.h"
+#include "src/Core/util/StaticAssert.h"
+#include "src/Core/util/Memory.h"
+
+#include "src/Core/NumTraits.h"
+#include "src/Core/MathFunctions.h"
+#include "src/Core/GenericPacketMath.h"
+
+#if defined EIGEN_VECTORIZE_SSE
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/MathFunctions.h"
+  #include "src/Core/arch/SSE/Complex.h"
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+  #include "src/Core/arch/AltiVec/PacketMath.h"
+  #include "src/Core/arch/AltiVec/Complex.h"
+#elif defined EIGEN_VECTORIZE_NEON
+  #include "src/Core/arch/NEON/PacketMath.h"
+  #include "src/Core/arch/NEON/Complex.h"
+#endif
+
+#include "src/Core/arch/Default/Settings.h"
+
+#include "src/Core/Functors.h"
+#include "src/Core/DenseCoeffsBase.h"
+#include "src/Core/DenseBase.h"
+#include "src/Core/MatrixBase.h"
+#include "src/Core/EigenBase.h"
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
+                                // at least confirmed with Doxygen 1.5.5 and 1.5.6
+  #include "src/Core/Assign.h"
+#endif
+
+#include "src/Core/util/BlasUtil.h"
+#include "src/Core/DenseStorage.h"
+#include "src/Core/NestByValue.h"
+#include "src/Core/ForceAlignedAccess.h"
+#include "src/Core/ReturnByValue.h"
+#include "src/Core/NoAlias.h"
+#include "src/Core/PlainObjectBase.h"
+#include "src/Core/Matrix.h"
+#include "src/Core/Array.h"
+#include "src/Core/CwiseBinaryOp.h"
+#include "src/Core/CwiseUnaryOp.h"
+#include "src/Core/CwiseNullaryOp.h"
+#include "src/Core/CwiseUnaryView.h"
+#include "src/Core/SelfCwiseBinaryOp.h"
+#include "src/Core/Dot.h"
+#include "src/Core/StableNorm.h"
+#include "src/Core/MapBase.h"
+#include "src/Core/Stride.h"
+#include "src/Core/Map.h"
+#include "src/Core/Block.h"
+#include "src/Core/VectorBlock.h"
+#include "src/Core/Transpose.h"
+#include "src/Core/DiagonalMatrix.h"
+#include "src/Core/Diagonal.h"
+#include "src/Core/DiagonalProduct.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
+#include "src/Core/Redux.h"
+#include "src/Core/Visitor.h"
+#include "src/Core/Fuzzy.h"
+#include "src/Core/IO.h"
+#include "src/Core/Swap.h"
+#include "src/Core/CommaInitializer.h"
+#include "src/Core/Flagged.h"
+#include "src/Core/ProductBase.h"
+#include "src/Core/Product.h"
+#include "src/Core/TriangularMatrix.h"
+#include "src/Core/SelfAdjointView.h"
+#include "src/Core/SolveTriangular.h"
+#include "src/Core/products/Parallelizer.h"
+#include "src/Core/products/CoeffBasedProduct.h"
+#include "src/Core/products/GeneralBlockPanelKernel.h"
+#include "src/Core/products/GeneralMatrixVector.h"
+#include "src/Core/products/GeneralMatrixMatrix.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
+#include "src/Core/products/SelfadjointMatrixVector.h"
+#include "src/Core/products/SelfadjointMatrixMatrix.h"
+#include "src/Core/products/SelfadjointProduct.h"
+#include "src/Core/products/SelfadjointRank2Update.h"
+#include "src/Core/products/TriangularMatrixVector.h"
+#include "src/Core/products/TriangularMatrixMatrix.h"
+#include "src/Core/products/TriangularSolverMatrix.h"
+#include "src/Core/products/TriangularSolverVector.h"
+#include "src/Core/BandMatrix.h"
+
+#include "src/Core/BooleanRedux.h"
+#include "src/Core/Select.h"
+#include "src/Core/VectorwiseOp.h"
+#include "src/Core/Random.h"
+#include "src/Core/Replicate.h"
+#include "src/Core/Reverse.h"
+#include "src/Core/ArrayBase.h"
+#include "src/Core/ArrayWrapper.h"
+
+} // namespace Eigen
+
+#include "src/Core/GlobalFunctions.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigen2Support"
+#endif
+
+#endif // EIGEN_CORE_H
diff --git a/extern/Eigen2/Eigen/Dense b/extern/Eigen3/Eigen/Dense
index 9655edcd7aa..5768910bd88 100644
--- a/extern/Eigen2/Eigen/Dense
+++ b/extern/Eigen3/Eigen/Dense
@@ -1,8 +1,7 @@
 #include "Core"
-#include "Array"
 #include "LU"
 #include "Cholesky"
 #include "QR"
 #include "SVD"
 #include "Geometry"
-#include "LeastSquares"
+#include "Eigenvalues"
diff --git a/extern/Eigen3/Eigen/Eigen b/extern/Eigen3/Eigen/Eigen
new file mode 100644
index 00000000000..19b40ea4e7e
--- /dev/null
+++ b/extern/Eigen3/Eigen/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+//#include "Sparse"
diff --git a/extern/Eigen3/Eigen/Eigen2Support b/extern/Eigen3/Eigen/Eigen2Support
new file mode 100644
index 00000000000..d96592a8de9
--- /dev/null
+++ b/extern/Eigen3/Eigen/Eigen2Support
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2SUPPORT_H
+#define EIGEN2SUPPORT_H
+
+#if (!defined(EIGEN2_SUPPORT)) || (!defined(EIGEN_CORE_H))
+#error Eigen2 support must be enabled by defining EIGEN2_SUPPORT before including any Eigen header
+#endif
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Eigen2Support_Module Eigen2 support module
+  * This module provides a couple of deprecated functions improving the compatibility with Eigen2.
+  *
+  * To use it, define EIGEN2_SUPPORT before including any Eigen header
+  * \code
+  * #define EIGEN2_SUPPORT
+  * \endcode
+  *
+  */
+
+#include "src/Eigen2Support/Macros.h"
+#include "src/Eigen2Support/Memory.h"
+#include "src/Eigen2Support/Meta.h"
+#include "src/Eigen2Support/Lazy.h"
+#include "src/Eigen2Support/Cwise.h"
+#include "src/Eigen2Support/CwiseOperators.h"
+#include "src/Eigen2Support/TriangularSolver.h"
+#include "src/Eigen2Support/Block.h"
+#include "src/Eigen2Support/VectorBlock.h"
+#include "src/Eigen2Support/Minor.h"
+#include "src/Eigen2Support/MathFunctions.h"
+
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+// Eigen2 used to include iostream
+#include<iostream>
+
+#define USING_PART_OF_NAMESPACE_EIGEN \
+EIGEN_USING_MATRIX_TYPEDEFS \
+using Eigen::Matrix; \
+using Eigen::MatrixBase; \
+using Eigen::ei_random; \
+using Eigen::ei_real; \
+using Eigen::ei_imag; \
+using Eigen::ei_conj; \
+using Eigen::ei_abs; \
+using Eigen::ei_abs2; \
+using Eigen::ei_sqrt; \
+using Eigen::ei_exp; \
+using Eigen::ei_log; \
+using Eigen::ei_sin; \
+using Eigen::ei_cos;
+
+#endif // EIGEN2SUPPORT_H
diff --git a/extern/Eigen3/Eigen/Eigenvalues b/extern/Eigen3/Eigen/Eigenvalues
new file mode 100644
index 00000000000..250c0f46652
--- /dev/null
+++ b/extern/Eigen3/Eigen/Eigenvalues
@@ -0,0 +1,44 @@
+#ifndef EIGEN_EIGENVALUES_MODULE_H
+#define EIGEN_EIGENVALUES_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+#include "LU"
+
+namespace Eigen {
+
+/** \defgroup Eigenvalues_Module Eigenvalues module
+  *
+  *
+  *
+  * This module mainly provides various eigenvalue solvers.
+  * This module also provides some MatrixBase methods, including:
+  *  - MatrixBase::eigenvalues(),
+  *  - MatrixBase::operatorNorm()
+  *
+  * \code
+  * #include <Eigen/Eigenvalues>
+  * \endcode
+  */
+
+#include "src/Eigenvalues/Tridiagonalization.h"
+#include "src/Eigenvalues/RealSchur.h"
+#include "src/Eigenvalues/EigenSolver.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/HessenbergDecomposition.h"
+#include "src/Eigenvalues/ComplexSchur.h"
+#include "src/Eigenvalues/ComplexEigenSolver.h"
+#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_EIGENVALUES_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/Geometry b/extern/Eigen3/Eigen/Geometry
new file mode 100644
index 00000000000..78277c0c560
--- /dev/null
+++ b/extern/Eigen3/Eigen/Geometry
@@ -0,0 +1,67 @@
+#ifndef EIGEN_GEOMETRY_MODULE_H
+#define EIGEN_GEOMETRY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "SVD"
+#include "LU"
+#include <limits>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace Eigen {
+
+/** \defgroup Geometry_Module Geometry module
+  *
+  *
+  *
+  * This module provides support for:
+  *  - fixed-size homogeneous transformations
+  *  - translation, scaling, 2D and 3D rotations
+  *  - quaternions
+  *  - \ref MatrixBase::cross() "cross product"
+  *  - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
+  *  - some linear components: parametrized-lines and hyperplanes
+  *
+  * \code
+  * #include <Eigen/Geometry>
+  * \endcode
+  */
+
+#include "src/Geometry/OrthoMethods.h"
+#include "src/Geometry/EulerAngles.h"
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+  #include "src/Geometry/Homogeneous.h"
+  #include "src/Geometry/RotationBase.h"
+  #include "src/Geometry/Rotation2D.h"
+  #include "src/Geometry/Quaternion.h"
+  #include "src/Geometry/AngleAxis.h"
+  #include "src/Geometry/Transform.h"
+  #include "src/Geometry/Translation.h"
+  #include "src/Geometry/Scaling.h"
+  #include "src/Geometry/Hyperplane.h"
+  #include "src/Geometry/ParametrizedLine.h"
+  #include "src/Geometry/AlignedBox.h"
+  #include "src/Geometry/Umeyama.h"
+
+  #if defined EIGEN_VECTORIZE_SSE
+    #include "src/Geometry/arch/Geometry_SSE.h"
+  #endif
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/Geometry/All.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_GEOMETRY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/extern/Eigen3/Eigen/Householder b/extern/Eigen3/Eigen/Householder
new file mode 100644
index 00000000000..6b86cf65c55
--- /dev/null
+++ b/extern/Eigen3/Eigen/Householder
@@ -0,0 +1,27 @@
+#ifndef EIGEN_HOUSEHOLDER_MODULE_H
+#define EIGEN_HOUSEHOLDER_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Householder_Module Householder module
+  * This module provides Householder transformations.
+  *
+  * \code
+  * #include <Eigen/Householder>
+  * \endcode
+  */
+
+#include "src/Householder/Householder.h"
+#include "src/Householder/HouseholderSequence.h"
+#include "src/Householder/BlockHouseholder.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_HOUSEHOLDER_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/Jacobi b/extern/Eigen3/Eigen/Jacobi
new file mode 100644
index 00000000000..afa67681379
--- /dev/null
+++ b/extern/Eigen3/Eigen/Jacobi
@@ -0,0 +1,30 @@
+#ifndef EIGEN_JACOBI_MODULE_H
+#define EIGEN_JACOBI_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Jacobi_Module Jacobi module
+  * This module provides Jacobi and Givens rotations.
+  *
+  * \code
+  * #include <Eigen/Jacobi>
+  * \endcode
+  *
+  * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
+  *  - MatrixBase::applyOnTheLeft()
+  *  - MatrixBase::applyOnTheRight().
+  */
+
+#include "src/Jacobi/Jacobi.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_JACOBI_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/extern/Eigen2/Eigen/LU b/extern/Eigen3/Eigen/LU
index 0ce69456598..226f88ca38a 100644
--- a/extern/Eigen2/Eigen/LU
+++ b/extern/Eigen3/Eigen/LU
@@ -3,7 +3,7 @@
 
 #include "Core"
 
-#include "src/Core/util/DisableMSVCWarnings.h"
+#include "src/Core/util/DisableStupidWarnings.h"
 
 namespace Eigen {
 
@@ -18,12 +18,25 @@ namespace Eigen {
   * \endcode
   */
 
-#include "src/LU/LU.h"
+#include "src/misc/Solve.h"
+#include "src/misc/Kernel.h"
+#include "src/misc/Image.h"
+#include "src/LU/FullPivLU.h"
+#include "src/LU/PartialPivLU.h"
 #include "src/LU/Determinant.h"
 #include "src/LU/Inverse.h"
 
+#if defined EIGEN_VECTORIZE_SSE
+  #include "src/LU/arch/Inverse_SSE.h"
+#endif
+
+#ifdef EIGEN2_SUPPORT
+  #include "src/Eigen2Support/LU.h"
+#endif
+
 } // namespace Eigen
 
-#include "src/Core/util/EnableMSVCWarnings.h"
+#include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_LU_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/LeastSquares b/extern/Eigen3/Eigen/LeastSquares
new file mode 100644
index 00000000000..93a6302dcd9
--- /dev/null
+++ b/extern/Eigen3/Eigen/LeastSquares
@@ -0,0 +1,36 @@
+#ifndef EIGEN_REGRESSION_MODULE_H
+#define EIGEN_REGRESSION_MODULE_H
+
+#ifndef EIGEN2_SUPPORT
+#error LeastSquares is only available in Eigen2 support mode (define EIGEN2_SUPPORT)
+#endif
+
+// exclude from normal eigen3-only documentation
+#ifdef EIGEN2_SUPPORT
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Eigenvalues"
+#include "Geometry"
+
+namespace Eigen {
+
+/** \defgroup LeastSquares_Module LeastSquares module
+  * This module provides linear regression and related features.
+  *
+  * \code
+  * #include <Eigen/LeastSquares>
+  * \endcode
+  */
+
+#include "src/Eigen2Support/LeastSquares.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN2_SUPPORT
+
+#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/extern/Eigen3/Eigen/QR b/extern/Eigen3/Eigen/QR
new file mode 100644
index 00000000000..97c1788ee30
--- /dev/null
+++ b/extern/Eigen3/Eigen/QR
@@ -0,0 +1,45 @@
+#ifndef EIGEN_QR_MODULE_H
+#define EIGEN_QR_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+
+namespace Eigen {
+
+/** \defgroup QR_Module QR module
+  *
+  *
+  *
+  * This module provides various QR decompositions
+  * This module also provides some MatrixBase methods, including:
+  *  - MatrixBase::qr(),
+  *
+  * \code
+  * #include <Eigen/QR>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/QR/HouseholderQR.h"
+#include "src/QR/FullPivHouseholderQR.h"
+#include "src/QR/ColPivHouseholderQR.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/QR.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigenvalues"
+#endif
+
+#endif // EIGEN_QR_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/QtAlignedMalloc b/extern/Eigen3/Eigen/QtAlignedMalloc
new file mode 100644
index 00000000000..46f7d83b70f
--- /dev/null
+++ b/extern/Eigen3/Eigen/QtAlignedMalloc
@@ -0,0 +1,34 @@
+
+#ifndef EIGEN_QTMALLOC_MODULE_H
+#define EIGEN_QTMALLOC_MODULE_H
+
+#include "Core"
+
+#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+void *qMalloc(size_t size)
+{
+  return Eigen::internal::aligned_malloc(size);
+}
+
+void qFree(void *ptr)
+{
+  Eigen::internal::aligned_free(ptr);
+}
+
+void *qRealloc(void *ptr, size_t size)
+{
+  void* newPtr = Eigen::internal::aligned_malloc(size);
+  memcpy(newPtr, ptr, size);
+  Eigen::internal::aligned_free(ptr);
+  return newPtr;
+}
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif
+
+#endif // EIGEN_QTMALLOC_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen2/Eigen/SVD b/extern/Eigen3/Eigen/SVD
index eef05564bde..d24471fd724 100644
--- a/extern/Eigen2/Eigen/SVD
+++ b/extern/Eigen3/Eigen/SVD
@@ -1,15 +1,17 @@
 #ifndef EIGEN_SVD_MODULE_H
 #define EIGEN_SVD_MODULE_H
 
-#include "Core"
+#include "QR"
+#include "Householder"
+#include "Jacobi"
 
-#include "src/Core/util/DisableMSVCWarnings.h"
+#include "src/Core/util/DisableStupidWarnings.h"
 
 namespace Eigen {
 
 /** \defgroup SVD_Module SVD module
   *
-  * \nonstableyet
+  *
   *
   * This module provides SVD decomposition for (currently) real matrices.
   * This decomposition is accessible via the following MatrixBase method:
@@ -20,10 +22,17 @@ namespace Eigen {
   * \endcode
   */
 
-#include "src/SVD/SVD.h"
+#include "src/misc/Solve.h"
+#include "src/SVD/JacobiSVD.h"
+#include "src/SVD/UpperBidiagonalization.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/SVD.h"
+#endif
 
 } // namespace Eigen
 
-#include "src/Core/util/EnableMSVCWarnings.h"
+#include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SVD_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/extern/Eigen3/Eigen/Sparse b/extern/Eigen3/Eigen/Sparse
new file mode 100644
index 00000000000..7425b3a412a
--- /dev/null
+++ b/extern/Eigen3/Eigen/Sparse
@@ -0,0 +1,69 @@
+#ifndef EIGEN_SPARSE_MODULE_H
+#define EIGEN_SPARSE_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include <vector>
+#include <map>
+#include <cstdlib>
+#include <cstring>
+#include <algorithm>
+
+#ifdef EIGEN2_SUPPORT
+#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
+#endif
+
+#ifndef EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
+#error The sparse module API is not stable yet. To use it anyway, please define the EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET preprocessor token.
+#endif
+
+namespace Eigen {
+
+/** \defgroup Sparse_Module Sparse module
+  *
+  *
+  *
+  * See the \ref TutorialSparse "Sparse tutorial"
+  *
+  * \code
+  * #include <Eigen/Sparse>
+  * \endcode
+  */
+
+/** The type used to identify a general sparse storage. */
+struct Sparse {};
+
+#include "src/Sparse/SparseUtil.h"
+#include "src/Sparse/SparseMatrixBase.h"
+#include "src/Sparse/CompressedStorage.h"
+#include "src/Sparse/AmbiVector.h"
+#include "src/Sparse/SparseMatrix.h"
+#include "src/Sparse/DynamicSparseMatrix.h"
+#include "src/Sparse/MappedSparseMatrix.h"
+#include "src/Sparse/SparseVector.h"
+#include "src/Sparse/CoreIterators.h"
+#include "src/Sparse/SparseBlock.h"
+#include "src/Sparse/SparseTranspose.h"
+#include "src/Sparse/SparseCwiseUnaryOp.h"
+#include "src/Sparse/SparseCwiseBinaryOp.h"
+#include "src/Sparse/SparseDot.h"
+#include "src/Sparse/SparseAssign.h"
+#include "src/Sparse/SparseRedux.h"
+#include "src/Sparse/SparseFuzzy.h"
+#include "src/Sparse/SparseProduct.h"
+#include "src/Sparse/SparseSparseProduct.h"
+#include "src/Sparse/SparseDenseProduct.h"
+#include "src/Sparse/SparseDiagonalProduct.h"
+#include "src/Sparse/SparseTriangularView.h"
+#include "src/Sparse/SparseSelfAdjointView.h"
+#include "src/Sparse/TriangularSolver.h"
+#include "src/Sparse/SparseView.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_SPARSE_MODULE_H
+
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseRedux.h b/extern/Eigen3/Eigen/StdDeque
index f0d3705488e..a4f96232d8c 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseRedux.h
+++ b/extern/Eigen3/Eigen/StdDeque
@@ -1,7 +1,8 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -22,19 +23,20 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_SPARSEREDUX_H
-#define EIGEN_SPARSEREDUX_H
-
-template<typename Derived>
-typename ei_traits<Derived>::Scalar
-SparseMatrixBase<Derived>::sum() const
-{
-  ei_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  Scalar res = 0;
-  for (int j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator iter(derived(),j); iter; ++iter)
-      res += iter.value();
-  return res;
-}
-
-#endif // EIGEN_SPARSEREDUX_H
+#ifndef EIGEN_STDDEQUE_MODULE_H
+#define EIGEN_STDDEQUE_MODULE_H
+
+#include "Core"
+#include <deque>
+
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdDeque.h"
+
+#endif
+
+#endif // EIGEN_STDDEQUE_MODULE_H
diff --git a/extern/Eigen2/Eigen/src/QR/QrInstantiations.cpp b/extern/Eigen3/Eigen/StdList
index dacb05d3d1f..d914ded4f93 100644
--- a/extern/Eigen2/Eigen/src/QR/QrInstantiations.cpp
+++ b/extern/Eigen3/Eigen/StdList
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -22,22 +22,20 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_EXTERN_INSTANTIATIONS
-#define EIGEN_EXTERN_INSTANTIATIONS
-#endif
-#include "../../Core"
-#undef EIGEN_EXTERN_INSTANTIATIONS
+#ifndef EIGEN_STDLIST_MODULE_H
+#define EIGEN_STDLIST_MODULE_H
+
+#include "Core"
+#include <list>
 
-#include "../../QR"
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */    
 
-namespace Eigen
-{
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
 
-template static void ei_tridiagonal_qr_step(float* , float* , int, int, float* , int);
-template static void ei_tridiagonal_qr_step(double* , double* , int, int, double* , int);
-template static void ei_tridiagonal_qr_step(float* , float* , int, int, std::complex<float>* , int);
-template static void ei_tridiagonal_qr_step(double* , double* , int, int, std::complex<double>* , int);
+#else
 
-EIGEN_QR_MODULE_INSTANTIATE();
+#include "src/StlSupport/StdList.h"
+
+#endif
 
-}
+#endif // EIGEN_STDLIST_MODULE_H
diff --git a/extern/Eigen2/Eigen/src/Core/CoreInstantiations.cpp b/extern/Eigen3/Eigen/StdVector
index 56a9448917a..3d8995e5aae 100644
--- a/extern/Eigen2/Eigen/src/Core/CoreInstantiations.cpp
+++ b/extern/Eigen3/Eigen/StdVector
@@ -1,7 +1,8 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -22,26 +23,20 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifdef EIGEN_EXTERN_INSTANTIATIONS
-#undef EIGEN_EXTERN_INSTANTIATIONS
-#endif
+#ifndef EIGEN_STDVECTOR_MODULE_H
+#define EIGEN_STDVECTOR_MODULE_H
+
+#include "Core"
+#include <vector>
 
-#include "../../Core"
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
 
-namespace Eigen
-{
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
 
-#define EIGEN_INSTANTIATE_PRODUCT(TYPE) \
-template static void ei_cache_friendly_product<TYPE>( \
-  int _rows, int _cols, int depth, \
-  bool _lhsRowMajor, const TYPE* _lhs, int _lhsStride, \
-  bool _rhsRowMajor, const TYPE* _rhs, int _rhsStride, \
-  bool resRowMajor, TYPE* res, int resStride)
+#else
 
-EIGEN_INSTANTIATE_PRODUCT(float);
-EIGEN_INSTANTIATE_PRODUCT(double);
-EIGEN_INSTANTIATE_PRODUCT(int);
-EIGEN_INSTANTIATE_PRODUCT(std::complex<float>);
-EIGEN_INSTANTIATE_PRODUCT(std::complex<double>);
+#include "src/StlSupport/StdVector.h"
+
+#endif
 
-}
+#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/extern/Eigen3/Eigen/src/Cholesky/LDLT.h b/extern/Eigen3/Eigen/src/Cholesky/LDLT.h
new file mode 100644
index 00000000000..f47b2ea5669
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Cholesky/LDLT.h
@@ -0,0 +1,484 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Keir Mierle <mierle@gmail.com>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LDLT_H
+#define EIGEN_LDLT_H
+
+namespace internal {
+template<typename MatrixType, int UpLo> struct LDLT_Traits;
+}
+
+/** \ingroup cholesky_Module
+  *
+  * \class LDLT
+  *
+  * \brief Robust Cholesky decomposition of a matrix with pivoting
+  *
+  * \param MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
+  *
+  * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
+  * matrix \f$ A \f$ such that \f$ A =  P^TLDL^*P \f$, where P is a permutation matrix, L
+  * is lower triangular with a unit diagonal and D is a diagonal matrix.
+  *
+  * The decomposition uses pivoting to ensure stability, so that L will have
+  * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root
+  * on D also stabilizes the computation.
+  *
+  * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
+	* decomposition to determine whether a system of equations has a solution.
+  *
+  * \sa MatrixBase::ldlt(), class LLT
+  */
+ /* THIS PART OF THE DOX IS CURRENTLY DISABLED BECAUSE INACCURATE BECAUSE OF BUG IN THE DECOMPOSITION CODE
+  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
+  * the strict lower part does not have to store correct values.
+  */
+template<typename _MatrixType, int _UpLo> class LDLT
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options & ~RowMajorBit, // these are the options for the TmpMatrixType, we need a ColMajor matrix here!
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+      UpLo = _UpLo
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1, Options, MaxRowsAtCompileTime, 1> TmpMatrixType;
+
+    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+
+    typedef internal::LDLT_Traits<MatrixType,UpLo> Traits;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LDLT::compute(const MatrixType&).
+      */
+    LDLT() : m_matrix(), m_transpositions(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa LDLT()
+      */
+    LDLT(Index size)
+      : m_matrix(size, size),
+        m_transpositions(size),
+        m_temporary(size),
+        m_isInitialized(false)
+    {}
+
+    LDLT(const MatrixType& matrix)
+      : m_matrix(matrix.rows(), matrix.cols()),
+        m_transpositions(matrix.rows()),
+        m_temporary(matrix.rows()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** \returns a view of the upper triangular matrix U */
+    inline typename Traits::MatrixU matrixU() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return Traits::getU(m_matrix);
+    }
+
+    /** \returns a view of the lower triangular matrix L */
+    inline typename Traits::MatrixL matrixL() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return Traits::getL(m_matrix);
+    }
+
+    /** \returns the permutation matrix P as a transposition sequence.
+      */
+    inline const TranspositionType& transpositionsP() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_transpositions;
+    }
+
+    /** \returns the coefficients of the diagonal matrix D */
+    inline Diagonal<const MatrixType> vectorD(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_matrix.diagonal();
+    }
+
+    /** \returns true if the matrix is positive (semidefinite) */
+    inline bool isPositive(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_sign == 1;
+    }
+    
+    #ifdef EIGEN2_SUPPORT
+    inline bool isPositiveDefinite() const
+    {
+      return isPositive();
+    }
+    #endif
+
+    /** \returns true if the matrix is negative (semidefinite) */
+    inline bool isNegative(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_sign == -1;
+    }
+
+    /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * This function also supports in-place solves using the syntax <tt>x = decompositionObject.solve(x)</tt> .
+      *
+      * \note_about_checking_solutions
+      *
+      * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
+      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, 
+      * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
+      * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
+      * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
+      * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
+      *
+      * \sa MatrixBase::ldlt()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<LDLT, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      eigen_assert(m_matrix.rows()==b.rows()
+                && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
+      return internal::solve_retval<LDLT, Rhs>(*this, b.derived());
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = this->solve(b);
+      return true;
+    }
+    #endif
+
+    template<typename Derived>
+    bool solveInPlace(MatrixBase<Derived> &bAndX) const;
+
+    LDLT& compute(const MatrixType& matrix);
+
+    /** \returns the internal LDLT decomposition matrix
+      *
+      * TODO: document the storage layout
+      */
+    inline const MatrixType& matrixLDLT() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_matrix;
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+  protected:
+
+    /** \internal
+      * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U.
+      * The strict upper part is used during the decomposition, the strict lower
+      * part correspond to the coefficients of L (its diagonal is equal to 1 and
+      * is not stored), and the diagonal entries correspond to D.
+      */
+    MatrixType m_matrix;
+    TranspositionType m_transpositions;
+    TmpMatrixType m_temporary;
+    int m_sign;
+    bool m_isInitialized;
+};
+
+namespace internal {
+
+template<int UpLo> struct ldlt_inplace;
+
+template<> struct ldlt_inplace<Lower>
+{
+  template<typename MatrixType, typename TranspositionType, typename Workspace>
+  static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, int* sign=0)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    eigen_assert(mat.rows()==mat.cols());
+    const Index size = mat.rows();
+
+    if (size <= 1)
+    {
+      transpositions.setIdentity();
+      if(sign)
+        *sign = real(mat.coeff(0,0))>0 ? 1:-1;
+      return true;
+    }
+
+    RealScalar cutoff = 0, biggest_in_corner;
+
+    for (Index k = 0; k < size; ++k)
+    {
+      // Find largest diagonal element
+      Index index_of_biggest_in_corner;
+      biggest_in_corner = mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
+      index_of_biggest_in_corner += k;
+
+      if(k == 0)
+      {
+        // The biggest overall is the point of reference to which further diagonals
+        // are compared; if any diagonal is negligible compared
+        // to the largest overall, the algorithm bails.
+        cutoff = abs(NumTraits<Scalar>::epsilon() * biggest_in_corner);
+
+        if(sign)
+          *sign = real(mat.diagonal().coeff(index_of_biggest_in_corner)) > 0 ? 1 : -1;
+      }
+
+      // Finish early if the matrix is not full rank.
+      if(biggest_in_corner < cutoff)
+      {
+        for(Index i = k; i < size; i++) transpositions.coeffRef(i) = i;
+        break;
+      }
+
+      transpositions.coeffRef(k) = index_of_biggest_in_corner;
+      if(k != index_of_biggest_in_corner)
+      {
+        // apply the transposition while taking care to consider only
+        // the lower triangular part
+        Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element
+        mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
+        mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
+        std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
+        for(int i=k+1;i<index_of_biggest_in_corner;++i)
+        {
+          Scalar tmp = mat.coeffRef(i,k);
+          mat.coeffRef(i,k) = conj(mat.coeffRef(index_of_biggest_in_corner,i));
+          mat.coeffRef(index_of_biggest_in_corner,i) = conj(tmp);
+        }
+        if(NumTraits<Scalar>::IsComplex)
+          mat.coeffRef(index_of_biggest_in_corner,k) = conj(mat.coeff(index_of_biggest_in_corner,k));
+      }
+
+      // partition the matrix:
+      //       A00 |  -  |  -
+      // lu  = A10 | A11 |  -
+      //       A20 | A21 | A22
+      Index rs = size - k - 1;
+      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+      if(k>0)
+      {
+        temp.head(k) = mat.diagonal().head(k).asDiagonal() * A10.adjoint();
+        mat.coeffRef(k,k) -= (A10 * temp.head(k)).value();
+        if(rs>0)
+          A21.noalias() -= A20 * temp.head(k);
+      }
+      if((rs>0) && (abs(mat.coeffRef(k,k)) > cutoff))
+        A21 /= mat.coeffRef(k,k);
+    }
+
+    return true;
+  }
+};
+
+template<> struct ldlt_inplace<Upper>
+{
+  template<typename MatrixType, typename TranspositionType, typename Workspace>
+  static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, int* sign=0)
+  {
+    Transpose<MatrixType> matt(mat);
+    return ldlt_inplace<Lower>::unblocked(matt, transpositions, temp, sign);
+  }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
+{
+  typedef TriangularView<MatrixType, UnitLower> MatrixL;
+  typedef TriangularView<typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m; }
+  inline static MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
+{
+  typedef TriangularView<typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
+  typedef TriangularView<MatrixType, UnitUpper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m.adjoint(); }
+  inline static MatrixU getU(const MatrixType& m) { return m; }
+};
+
+} // end namespace internal
+
+/** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
+  */
+template<typename MatrixType, int _UpLo>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+{
+  eigen_assert(a.rows()==a.cols());
+  const Index size = a.rows();
+
+  m_matrix = a;
+
+  m_transpositions.resize(size);
+  m_isInitialized = false;
+  m_temporary.resize(size);
+
+  internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, &m_sign);
+
+  m_isInitialized = true;
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int _UpLo, typename Rhs>
+struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
+  : solve_retval_base<LDLT<_MatrixType,_UpLo>, Rhs>
+{
+  typedef LDLT<_MatrixType,_UpLo> LDLTType;
+  EIGEN_MAKE_SOLVE_HELPERS(LDLTType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().matrixLDLT().rows());
+    // dst = P b
+    dst = dec().transpositionsP() * rhs();
+
+    // dst = L^-1 (P b)
+    dec().matrixL().solveInPlace(dst);
+
+    // dst = D^-1 (L^-1 P b)
+    // more precisely, use pseudo-inverse of D (see bug 241)
+    using std::abs;
+    using std::max;
+    typedef typename LDLTType::MatrixType MatrixType;
+    typedef typename LDLTType::Scalar Scalar;
+    typedef typename LDLTType::RealScalar RealScalar;
+    const Diagonal<const MatrixType> vectorD = dec().vectorD();
+    RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() * NumTraits<Scalar>::epsilon(),
+				 RealScalar(1) / NumTraits<RealScalar>::highest()); // motivated by LAPACK's xGELSS
+    for (Index i = 0; i < vectorD.size(); ++i) {
+      if(abs(vectorD(i)) > tolerance)
+	dst.row(i) /= vectorD(i);
+      else
+	dst.row(i).setZero();
+    }
+
+    // dst = L^-T (D^-1 L^-1 P b)
+    dec().matrixU().solveInPlace(dst);
+
+    // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+    dst = dec().transpositionsP().transpose() * dst;
+  }
+};
+}
+
+/** \internal use x = ldlt_object.solve(x);
+  *
+  * This is the \em in-place version of solve().
+  *
+  * \param bAndX represents both the right-hand side matrix b and result x.
+  *
+  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
+  *
+  * This version avoids a copy when the right hand side matrix b is not
+  * needed anymore.
+  *
+  * \sa LDLT::solve(), MatrixBase::ldlt()
+  */
+template<typename MatrixType,int _UpLo>
+template<typename Derived>
+bool LDLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
+{
+  eigen_assert(m_isInitialized && "LDLT is not initialized.");
+  const Index size = m_matrix.rows();
+  eigen_assert(size == bAndX.rows());
+
+  bAndX = this->solve(bAndX);
+
+  return true;
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^T L D L^* P.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LDLT is not initialized.");
+  const Index size = m_matrix.rows();
+  MatrixType res(size,size);
+
+  // P
+  res.setIdentity();
+  res = transpositionsP() * res;
+  // L^* P
+  res = matrixU() * res;
+  // D(L^*P)
+  res = vectorD().asDiagonal() * res;
+  // L(DL^*P)
+  res = matrixL() * res;
+  // P^T (LDL^*P)
+  res = transpositionsP().transpose() * res;
+
+  return res;
+}
+
+/** \cholesky_module
+  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::ldlt() const
+{
+  return LDLT<PlainObject,UpLo>(m_matrix);
+}
+
+/** \cholesky_module
+  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  */
+template<typename Derived>
+inline const LDLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::ldlt() const
+{
+  return LDLT<PlainObject>(derived());
+}
+
+#endif // EIGEN_LDLT_H
diff --git a/extern/Eigen3/Eigen/src/Cholesky/LLT.h b/extern/Eigen3/Eigen/src/Cholesky/LLT.h
new file mode 100644
index 00000000000..a4ee5b11cb9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Cholesky/LLT.h
@@ -0,0 +1,386 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LLT_H
+#define EIGEN_LLT_H
+
+namespace internal{
+template<typename MatrixType, int UpLo> struct LLT_Traits;
+}
+
+/** \ingroup cholesky_Module
+  *
+  * \class LLT
+  *
+  * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
+  *
+  * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
+  * matrix A such that A = LL^* = U^*U, where L is lower triangular.
+  *
+  * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like  D^*D x = b,
+  * for that purpose, we recommend the Cholesky decomposition without square root which is more stable
+  * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other
+  * situations like generalised eigen problems with hermitian matrices.
+  *
+  * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices,
+  * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations
+  * has a solution.
+  *
+  * \sa MatrixBase::llt(), class LDLT
+  */
+ /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
+  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
+  * the strict lower part does not have to store correct values.
+  */
+template<typename _MatrixType, int _UpLo> class LLT
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      AlignmentMask = int(PacketSize)-1,
+      UpLo = _UpLo
+    };
+
+    typedef internal::LLT_Traits<MatrixType,UpLo> Traits;
+
+    /**
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LLT::compute(const MatrixType&).
+      */
+    LLT() : m_matrix(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa LLT()
+      */
+    LLT(Index size) : m_matrix(size, size),
+                    m_isInitialized(false) {}
+
+    LLT(const MatrixType& matrix)
+      : m_matrix(matrix.rows(), matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** \returns a view of the upper triangular matrix U */
+    inline typename Traits::MatrixU matrixU() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return Traits::getU(m_matrix);
+    }
+
+    /** \returns a view of the lower triangular matrix L */
+    inline typename Traits::MatrixL matrixL() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return Traits::getL(m_matrix);
+    }
+
+    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * Since this LLT class assumes anyway that the matrix A is invertible, the solution
+      * theoretically exists and is unique regardless of b.
+      *
+      * Example: \include LLT_solve.cpp
+      * Output: \verbinclude LLT_solve.out
+      *
+      * \sa solveInPlace(), MatrixBase::llt()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<LLT, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      eigen_assert(m_matrix.rows()==b.rows()
+                && "LLT::solve(): invalid number of rows of the right hand side matrix b");
+      return internal::solve_retval<LLT, Rhs>(*this, b.derived());
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = this->solve(b);
+      return true;
+    }
+    
+    bool isPositiveDefinite() const { return true; }
+    #endif
+
+    template<typename Derived>
+    void solveInPlace(MatrixBase<Derived> &bAndX) const;
+
+    LLT& compute(const MatrixType& matrix);
+
+    /** \returns the LLT decomposition matrix
+      *
+      * TODO: document the storage layout
+      */
+    inline const MatrixType& matrixLLT() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return m_matrix;
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful,
+      *          \c NumericalIssue if the matrix.appears to be negative.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return m_info;
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+  protected:
+    /** \internal
+      * Used to compute and store L
+      * The strict upper part is not used and even not initialized.
+      */
+    MatrixType m_matrix;
+    bool m_isInitialized;
+    ComputationInfo m_info;
+};
+
+namespace internal {
+
+template<int UpLo> struct llt_inplace;
+
+template<> struct llt_inplace<Lower>
+{
+  template<typename MatrixType>
+  static typename MatrixType::Index unblocked(MatrixType& mat)
+  {
+    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    
+    eigen_assert(mat.rows()==mat.cols());
+    const Index size = mat.rows();
+    for(Index k = 0; k < size; ++k)
+    {
+      Index rs = size-k-1; // remaining size
+
+      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+      RealScalar x = real(mat.coeff(k,k));
+      if (k>0) x -= A10.squaredNorm();
+      if (x<=RealScalar(0))
+        return k;
+      mat.coeffRef(k,k) = x = sqrt(x);
+      if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint();
+      if (rs>0) A21 *= RealScalar(1)/x;
+    }
+    return -1;
+  }
+
+  template<typename MatrixType>
+  static typename MatrixType::Index blocked(MatrixType& m)
+  {
+    typedef typename MatrixType::Index Index;
+    eigen_assert(m.rows()==m.cols());
+    Index size = m.rows();
+    if(size<32)
+      return unblocked(m);
+
+    Index blockSize = size/8;
+    blockSize = (blockSize/16)*16;
+    blockSize = (std::min)((std::max)(blockSize,Index(8)), Index(128));
+
+    for (Index k=0; k<size; k+=blockSize)
+    {
+      // partition the matrix:
+      //       A00 |  -  |  -
+      // lu  = A10 | A11 |  -
+      //       A20 | A21 | A22
+      Index bs = (std::min)(blockSize, size-k);
+      Index rs = size - k - bs;
+      Block<MatrixType,Dynamic,Dynamic> A11(m,k,   k,   bs,bs);
+      Block<MatrixType,Dynamic,Dynamic> A21(m,k+bs,k,   rs,bs);
+      Block<MatrixType,Dynamic,Dynamic> A22(m,k+bs,k+bs,rs,rs);
+
+      Index ret;
+      if((ret=unblocked(A11))>=0) return k+ret;
+      if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
+      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,-1); // bottleneck
+    }
+    return -1;
+  }
+};
+
+template<> struct llt_inplace<Upper>
+{
+  template<typename MatrixType>
+  static EIGEN_STRONG_INLINE typename MatrixType::Index unblocked(MatrixType& mat)
+  {
+    Transpose<MatrixType> matt(mat);
+    return llt_inplace<Lower>::unblocked(matt);
+  }
+  template<typename MatrixType>
+  static EIGEN_STRONG_INLINE typename MatrixType::Index blocked(MatrixType& mat)
+  {
+    Transpose<MatrixType> matt(mat);
+    return llt_inplace<Lower>::blocked(matt);
+  }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
+{
+  typedef TriangularView<MatrixType, Lower> MatrixL;
+  typedef TriangularView<typename MatrixType::AdjointReturnType, Upper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m; }
+  inline static MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static bool inplace_decomposition(MatrixType& m)
+  { return llt_inplace<Lower>::blocked(m)==-1; }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
+{
+  typedef TriangularView<typename MatrixType::AdjointReturnType, Lower> MatrixL;
+  typedef TriangularView<MatrixType, Upper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m.adjoint(); }
+  inline static MatrixU getU(const MatrixType& m) { return m; }
+  static bool inplace_decomposition(MatrixType& m)
+  { return llt_inplace<Upper>::blocked(m)==-1; }
+};
+
+} // end namespace internal
+
+/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix
+  *
+  *
+  * \returns a reference to *this
+  */
+template<typename MatrixType, int _UpLo>
+LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+{
+  assert(a.rows()==a.cols());
+  const Index size = a.rows();
+  m_matrix.resize(size, size);
+  m_matrix = a;
+
+  m_isInitialized = true;
+  bool ok = Traits::inplace_decomposition(m_matrix);
+  m_info = ok ? Success : NumericalIssue;
+
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int UpLo, typename Rhs>
+struct solve_retval<LLT<_MatrixType, UpLo>, Rhs>
+  : solve_retval_base<LLT<_MatrixType, UpLo>, Rhs>
+{
+  typedef LLT<_MatrixType,UpLo> LLTType;
+  EIGEN_MAKE_SOLVE_HELPERS(LLTType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    dst = rhs();
+    dec().solveInPlace(dst);
+  }
+};
+}
+
+/** \internal use x = llt_object.solve(x);
+  * 
+  * This is the \em in-place version of solve().
+  *
+  * \param bAndX represents both the right-hand side matrix b and result x.
+  *
+  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
+  *
+  * This version avoids a copy when the right hand side matrix b is not
+  * needed anymore.
+  *
+  * \sa LLT::solve(), MatrixBase::llt()
+  */
+template<typename MatrixType, int _UpLo>
+template<typename Derived>
+void LLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
+{
+  eigen_assert(m_isInitialized && "LLT is not initialized.");
+  eigen_assert(m_matrix.rows()==bAndX.rows());
+  matrixL().solveInPlace(bAndX);
+  matrixU().solveInPlace(bAndX);
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: L L^*.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LLT is not initialized.");
+  return matrixL() * matrixL().adjoint().toDenseMatrix();
+}
+
+/** \cholesky_module
+  * \returns the LLT decomposition of \c *this
+  */
+template<typename Derived>
+inline const LLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::llt() const
+{
+  return LLT<PlainObject>(derived());
+}
+
+/** \cholesky_module
+  * \returns the LLT decomposition of \c *this
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::llt() const
+{
+  return LLT<PlainObject,UpLo>(m_matrix);
+}
+
+#endif // EIGEN_LLT_H
diff --git a/extern/Eigen3/Eigen/src/Core/Array.h b/extern/Eigen3/Eigen/src/Core/Array.h
new file mode 100644
index 00000000000..a3a2167ad3e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Array.h
@@ -0,0 +1,322 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAY_H
+#define EIGEN_ARRAY_H
+
+/** \class Array 
+  * \ingroup Core_Module
+  *
+  * \brief General-purpose arrays with easy API for coefficient-wise operations
+  *
+  * The %Array class is very similar to the Matrix class. It provides
+  * general-purpose one- and two-dimensional arrays. The difference between the
+  * %Array and the %Matrix class is primarily in the API: the API for the
+  * %Array class provides easy access to coefficient-wise operations, while the
+  * API for the %Matrix class provides easy access to linear-algebra
+  * operations.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
+  *
+  * \sa \ref TutorialArrayClass, \ref TopicClassHierarchy
+  */
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef ArrayXpr XprKind;
+  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
+};
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Array
+  : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  public:
+
+    typedef PlainObjectBase<Array> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Array)
+
+    enum { Options = _Options };
+    typedef typename Base::PlainObject PlainObject;
+
+  protected:
+    template <typename Derived, typename OtherDerived, bool IsVector>
+    friend struct internal::conservative_resize_like_impl;
+
+    using Base::m_storage;
+  public:
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    using Base::base;
+    using Base::coeff;
+    using Base::coeffRef;
+
+    /**
+      * The usage of
+      *   using Base::operator=;
+      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+      * the usage of 'using'. This should be done only for operator=.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
+    {
+      return Base::operator=(other);
+    }
+
+    /** Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array& operator=(const ArrayBase<OtherDerived>& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    EIGEN_STRONG_INLINE Array& operator=(const Array& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** Default constructor.
+      *
+      * For fixed-size matrices, does nothing.
+      *
+      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+      * a matrix to 0 is not supported.
+      *
+      * \sa resize(Index,Index)
+      */
+    EIGEN_STRONG_INLINE explicit Array() : Base()
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    // FIXME is it still needed ??
+    /** \internal */
+    Array(internal::constructor_without_unaligned_array_assert)
+      : Base(internal::constructor_without_unaligned_array_assert())
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+#endif
+
+    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Matrix() instead.
+      */
+    EIGEN_STRONG_INLINE explicit Array(Index dim)
+      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Array)
+      eigen_assert(dim >= 0);
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE Array(const T0& x, const T1& y)
+    {
+      Base::_check_template_params();
+      this->template _init2<T0,T1>(x, y);
+    }
+    #else
+    /** constructs an uninitialized matrix with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead. */
+    Array(Index rows, Index cols);
+    /** constructs an initialized 2D vector with given coefficients */
+    Array(const Scalar& x, const Scalar& y);
+    #endif
+
+    /** constructs an initialized 3D vector with given coefficients */
+    EIGEN_STRONG_INLINE Array(const Scalar& x, const Scalar& y, const Scalar& z)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+    }
+    /** constructs an initialized 4D vector with given coefficients */
+    EIGEN_STRONG_INLINE Array(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+      m_storage.data()[3] = w;
+    }
+
+    explicit Array(const Scalar *data);
+
+    /** Constructor copying the value of the expression \a other */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const ArrayBase<OtherDerived>& other)
+             : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** Copy constructor */
+    EIGEN_STRONG_INLINE Array(const Array& other)
+            : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const ReturnByValue<OtherDerived>& other)
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      other.evalTo(*this);
+    }
+
+    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other)
+      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      *this = other;
+    }
+
+    /** Override MatrixBase::swap() since for dynamic-sized matrices of same type it is enough to swap the
+      * data pointers.
+      */
+    template<typename OtherDerived>
+    void swap(ArrayBase<OtherDerived> const & other)
+    { this->_swap(other.derived()); }
+
+    inline Index innerStride() const { return 1; }
+    inline Index outerStride() const { return this->innerSize(); }
+
+    #ifdef EIGEN_ARRAY_PLUGIN
+    #include EIGEN_ARRAY_PLUGIN
+    #endif
+
+  private:
+
+    template<typename MatrixType, typename OtherDerived, bool SwapPointers>
+    friend struct internal::matrix_swap_impl;
+};
+
+/** \defgroup arraytypedefs Global array typedefs
+  * \ingroup Core_Module
+  *
+  * Eigen defines several typedef shortcuts for most common 1D and 2D array types.
+  *
+  * The general patterns are the following:
+  *
+  * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+  * for complex double.
+  *
+  * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats.
+  *
+  * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is
+  * a fixed-size 1D array of 4 complex floats.
+  *
+  * \sa class Array
+  */
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, Size> Array##SizeSuffix##SizeSuffix##TypeSuffix;  \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, 1>    Array##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, Dynamic> Array##Size##X##TypeSuffix;  \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Dynamic, Size> Array##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int,                  i)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float,                f)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double,               d)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
+using Eigen::Matrix##SizeSuffix##TypeSuffix; \
+using Eigen::Vector##SizeSuffix##TypeSuffix; \
+using Eigen::RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
+
+#define EIGEN_USING_ARRAY_TYPEDEFS \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd)
+
+
+#endif // EIGEN_ARRAY_H
diff --git a/extern/Eigen3/Eigen/src/Core/ArrayBase.h b/extern/Eigen3/Eigen/src/Core/ArrayBase.h
new file mode 100644
index 00000000000..9399ac3d15c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/ArrayBase.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAYBASE_H
+#define EIGEN_ARRAYBASE_H
+
+template<typename ExpressionType> class MatrixWrapper;
+
+/** \class ArrayBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all 1D and 2D array, and related expressions
+  *
+  * An array is similar to a dense vector or matrix. While matrices are mathematical
+  * objects with well defined linear algebra operators, an array is just a collection
+  * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence,
+  * all operations applied to an array are performed coefficient wise. Furthermore,
+  * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient
+  * constructors allowing to easily write generic code working for both scalar values
+  * and arrays.
+  *
+  * This class is the base that is inherited by all array expression types.
+  *
+  * \tparam Derived is the derived type, e.g., an array or an expression type.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
+  *
+  * \sa class MatrixBase, \ref TopicClassHierarchy
+  */
+template<typename Derived> class ArrayBase
+  : public DenseBase<Derived>
+{
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** The base class for a given storage type. */
+    typedef ArrayBase StorageBaseType;
+
+    typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
+
+    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseBase<Derived> Base;
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::CoeffReadCost;
+
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::operator=;
+    using Base::operator+=;
+    using Base::operator-=;
+    using Base::operator*=;
+    using Base::operator/=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
+      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
+      * reference to a matrix, not a matrix! It is however guaranteed that the return type of eval() is either
+      * PlainObject or const PlainObject&.
+      */
+    typedef Array<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainObject;
+
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/ArrayCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   include "../plugins/ArrayCwiseBinaryOps.h"
+#   ifdef EIGEN_ARRAYBASE_PLUGIN
+#     include EIGEN_ARRAYBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const ArrayBase& other)
+    {
+      return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+    }
+
+    Derived& operator+=(const Scalar& scalar)
+    { return *this = derived() + scalar; }
+    Derived& operator-=(const Scalar& scalar)
+    { return *this = derived() - scalar; }
+
+    template<typename OtherDerived>
+    Derived& operator+=(const ArrayBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const ArrayBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator*=(const ArrayBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator/=(const ArrayBase<OtherDerived>& other);
+
+  public:
+    ArrayBase<Derived>& array() { return *this; }
+    const ArrayBase<Derived>& array() const { return *this; }
+
+    /** \returns an \link MatrixBase Matrix \endlink expression of this array
+      * \sa MatrixBase::array() */
+    MatrixWrapper<Derived> matrix() { return derived(); }
+    const MatrixWrapper<Derived> matrix() const { return derived(); }
+
+//     template<typename Dest>
+//     inline void evalTo(Dest& dst) const { dst = matrix(); }
+
+  protected:
+    ArrayBase() : Base() {}
+
+  private:
+    explicit ArrayBase(Index);
+    ArrayBase(Index,Index);
+    template<typename OtherDerived> explicit ArrayBase(const ArrayBase<OtherDerived>&);
+  protected:
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator+=(const MatrixBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator-=(const MatrixBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+};
+
+/** replaces \c *this by \c *this - \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
+{
+  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other coefficient wise.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this / \a other coefficient wise.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+#endif // EIGEN_ARRAYBASE_H
diff --git a/extern/Eigen3/Eigen/src/Core/ArrayWrapper.h b/extern/Eigen3/Eigen/src/Core/ArrayWrapper.h
new file mode 100644
index 00000000000..07f082e1edc
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/ArrayWrapper.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAYWRAPPER_H
+#define EIGEN_ARRAYWRAPPER_H
+
+/** \class ArrayWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a mathematical vector or matrix as an array object
+  *
+  * This class is the return type of MatrixBase::array(), and most of the time
+  * this is the only way it is use.
+  *
+  * \sa MatrixBase::array(), class MatrixWrapper
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ArrayWrapper<ExpressionType> >
+  : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+  typedef ArrayXpr XprKind;
+};
+}
+
+template<typename ExpressionType>
+class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
+{
+  public:
+    typedef ArrayBase<ArrayWrapper> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
+
+    typedef typename internal::conditional<
+                       internal::is_lvalue<ExpressionType>::value,
+                       Scalar,
+                       const Scalar
+                     >::type ScalarWithConstIfNotLvalue;
+
+    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+
+    inline ArrayWrapper(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    inline const Scalar* data() const { return m_expression.data(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst = m_expression; }
+
+  protected:
+    const NestedExpressionType m_expression;
+};
+
+/** \class MatrixWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of an array as a mathematical vector or matrix
+  *
+  * This class is the return type of ArrayBase::matrix(), and most of the time
+  * this is the only way it is use.
+  *
+  * \sa MatrixBase::matrix(), class ArrayWrapper
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<MatrixWrapper<ExpressionType> >
+ : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+  typedef MatrixXpr XprKind;
+};
+}
+
+template<typename ExpressionType>
+class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
+{
+  public:
+    typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
+
+    typedef typename internal::conditional<
+                       internal::is_lvalue<ExpressionType>::value,
+                       Scalar,
+                       const Scalar
+                     >::type ScalarWithConstIfNotLvalue;
+
+    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+
+    inline MatrixWrapper(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    inline const Scalar* data() const { return m_expression.data(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+  protected:
+    const NestedExpressionType m_expression;
+};
+
+#endif // EIGEN_ARRAYWRAPPER_H
diff --git a/extern/Eigen3/Eigen/src/Core/Assign.h b/extern/Eigen3/Eigen/src/Core/Assign.h
new file mode 100644
index 00000000000..3a17152f043
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Assign.h
@@ -0,0 +1,593 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ASSIGN_H
+#define EIGEN_ASSIGN_H
+
+namespace internal {
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for traversal and unrolling       *
+***************************************************************************/
+
+template <typename Derived, typename OtherDerived>
+struct assign_traits
+{
+public:
+  enum {
+    DstIsAligned = Derived::Flags & AlignedBit,
+    DstHasDirectAccess = Derived::Flags & DirectAccessBit,
+    SrcIsAligned = OtherDerived::Flags & AlignedBit,
+    JointAlignment = bool(DstIsAligned) && bool(SrcIsAligned) ? Aligned : Unaligned
+  };
+
+private:
+  enum {
+    InnerSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::SizeAtCompileTime)
+              : int(Derived::Flags)&RowMajorBit ? int(Derived::ColsAtCompileTime)
+              : int(Derived::RowsAtCompileTime),
+    InnerMaxSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::MaxSizeAtCompileTime)
+              : int(Derived::Flags)&RowMajorBit ? int(Derived::MaxColsAtCompileTime)
+              : int(Derived::MaxRowsAtCompileTime),
+    MaxSizeAtCompileTime = Derived::SizeAtCompileTime,
+    PacketSize = packet_traits<typename Derived::Scalar>::size
+  };
+
+  enum {
+    StorageOrdersAgree = (int(Derived::IsRowMajor) == int(OtherDerived::IsRowMajor)),
+    MightVectorize = StorageOrdersAgree
+                  && (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit),
+    MayInnerVectorize  = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0
+                       && int(DstIsAligned) && int(SrcIsAligned),
+    MayLinearize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit),
+    MayLinearVectorize = MightVectorize && MayLinearize && DstHasDirectAccess
+                       && (DstIsAligned || MaxSizeAtCompileTime == Dynamic),
+      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
+         so it's only good for large enough sizes. */
+    MaySliceVectorize  = MightVectorize && DstHasDirectAccess
+                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=3*PacketSize)
+      /* slice vectorization can be slow, so we only want it if the slices are big, which is
+         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
+         in a fixed-size matrix */
+  };
+
+public:
+  enum {
+    Traversal = int(MayInnerVectorize)  ? int(InnerVectorizedTraversal)
+              : int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
+              : int(MayLinearize)       ? int(LinearTraversal)
+                                        : int(DefaultTraversal),
+    Vectorized = int(Traversal) == InnerVectorizedTraversal
+              || int(Traversal) == LinearVectorizedTraversal
+              || int(Traversal) == SliceVectorizedTraversal
+  };
+
+private:
+  enum {
+    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * (Vectorized ? int(PacketSize) : 1),
+    MayUnrollCompletely = int(Derived::SizeAtCompileTime) != Dynamic
+                       && int(OtherDerived::CoeffReadCost) != Dynamic
+                       && int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit),
+    MayUnrollInner      = int(InnerSize) != Dynamic
+                       && int(OtherDerived::CoeffReadCost) != Dynamic
+                       && int(InnerSize) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit)
+  };
+
+public:
+  enum {
+    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
+                ? (
+                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
+                  : int(MayUnrollInner)      ? int(InnerUnrolling)
+                                             : int(NoUnrolling)
+                  )
+              : int(Traversal) == int(LinearVectorizedTraversal)
+                ? ( bool(MayUnrollCompletely) && bool(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
+              : int(Traversal) == int(LinearTraversal)
+                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) )
+              : int(NoUnrolling)
+  };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    EIGEN_DEBUG_VAR(DstIsAligned)
+    EIGEN_DEBUG_VAR(SrcIsAligned)
+    EIGEN_DEBUG_VAR(JointAlignment)
+    EIGEN_DEBUG_VAR(InnerSize)
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(PacketSize)
+    EIGEN_DEBUG_VAR(StorageOrdersAgree)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearize)
+    EIGEN_DEBUG_VAR(MayInnerVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    EIGEN_DEBUG_VAR(Traversal)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(MayUnrollCompletely)
+    EIGEN_DEBUG_VAR(MayUnrollInner)
+    EIGEN_DEBUG_VAR(Unrolling)
+  }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : meta-unrollers
+***************************************************************************/
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_DefaultTraversal_CompleteUnrolling
+{
+  enum {
+    outer = Index / Derived1::InnerSizeAtCompileTime,
+    inner = Index % Derived1::InnerSizeAtCompileTime
+  };
+
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.copyCoeffByOuterInner(outer, inner, src);
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_DefaultTraversal_InnerUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int outer)
+  {
+    dst.copyCoeffByOuterInner(outer, Index, src);
+    assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, outer);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_LinearTraversal_CompleteUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.copyCoeff(Index, src);
+    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_innervec_CompleteUnrolling
+{
+  enum {
+    outer = Index / Derived1::InnerSizeAtCompileTime,
+    inner = Index % Derived1::InnerSizeAtCompileTime,
+    JointAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+  };
+
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.template copyPacketByOuterInner<Derived2, Aligned, JointAlignment>(outer, inner, src);
+    assign_innervec_CompleteUnrolling<Derived1, Derived2,
+      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_innervec_InnerUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int outer)
+  {
+    dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, Index, src);
+    assign_innervec_InnerUnrolling<Derived1, Derived2,
+      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, outer);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Derived1, typename Derived2,
+         int Traversal = assign_traits<Derived1, Derived2>::Traversal,
+         int Unrolling = assign_traits<Derived1, Derived2>::Unrolling>
+struct assign_impl;
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Derived1, typename Derived2, int Unrolling>
+struct assign_impl<Derived1, Derived2, InvalidTraversal, Unrolling>
+{
+  inline static void run(Derived1 &, const Derived2 &) { }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, InnerUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
+        ::run(dst, src, outer);
+  }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index size = dst.size();
+    for(Index i = 0; i < size; ++i)
+      dst.copyCoeff(i, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    const Index packetSize = packet_traits<typename Derived1::Scalar>::size;
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; inner+=packetSize)
+        dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, inner, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, InnerUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      assign_innervec_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
+        ::run(dst, src, outer);
+  }
+};
+
+/***************************
+*** Linear vectorization ***
+***************************/
+
+template <bool IsAligned = false>
+struct unaligned_assign_impl
+{
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_STRONG_INLINE void run(const Derived&, OtherDerived&, typename Derived::Index, typename Derived::Index) {}
+};
+
+template <>
+struct unaligned_assign_impl<false>
+{
+  // MSVC must not inline this functions. If it does, it fails to optimize the
+  // packet access path.
+#ifdef _MSC_VER
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_DONT_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
+#else
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_STRONG_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
+#endif
+  {
+    for (typename Derived::Index index = start; index < end; ++index)
+      dst.copyCoeff(index, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index size = dst.size();
+    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
+    enum {
+      packetSize = PacketTraits::size,
+      dstAlignment = PacketTraits::AlignedOnScalar ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
+      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+    };
+    const Index alignedStart = assign_traits<Derived1,Derived2>::DstIsAligned ? 0
+                             : first_aligned(&dst.coeffRef(0), size);
+    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+    unaligned_assign_impl<assign_traits<Derived1,Derived2>::DstIsAligned!=0>::run(src,dst,0,alignedStart);
+
+    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
+    {
+      dst.template copyPacket<Derived2, dstAlignment, srcAlignment>(index, src);
+    }
+
+    unaligned_assign_impl<>::run(src,dst,alignedEnd,size);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    enum { size = Derived1::SizeAtCompileTime,
+           packetSize = packet_traits<typename Derived1::Scalar>::size,
+           alignedSize = (size/packetSize)*packetSize };
+
+    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src);
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src);
+  }
+};
+
+/**************************
+*** Slice vectorization ***
+***************************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
+    enum {
+      packetSize = PacketTraits::size,
+      alignable = PacketTraits::AlignedOnScalar,
+      dstAlignment = alignable ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
+      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+    };
+    const Index packetAlignedMask = packetSize - 1;
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0;
+    Index alignedStart = ((!alignable) || assign_traits<Derived1,Derived2>::DstIsAligned) ? 0
+                       : first_aligned(&dst.coeffRef(0,0), innerSize);
+
+    for(Index outer = 0; outer < outerSize; ++outer)
+    {
+      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
+      // do the non-vectorizable part of the assignment
+      for(Index inner = 0; inner<alignedStart ; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+
+      // do the vectorizable part of the assignment
+      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
+        dst.template copyPacketByOuterInner<Derived2, dstAlignment, Unaligned>(outer, inner, src);
+
+      // do the non-vectorizable part of the assignment
+      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+
+      alignedStart = std::min<Index>((alignedStart+alignedStep)%packetSize, innerSize);
+    }
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Part 4 : implementation of DenseBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
+  ::lazyAssign(const DenseBase<OtherDerived>& other)
+{
+  enum{
+    SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value
+  };
+
+  EIGEN_STATIC_ASSERT_LVALUE(Derived)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  internal::assign_traits<Derived, OtherDerived>::debug();
+#endif
+  eigen_assert(rows() == other.rows() && cols() == other.cols());
+  internal::assign_impl<Derived, OtherDerived, int(SameType) ? int(internal::assign_traits<Derived, OtherDerived>::Traversal)
+                                                       : int(InvalidTraversal)>::run(derived(),other.derived());
+#ifndef EIGEN_NO_DEBUG
+  checkTransposeAliasing(other.derived());
+#endif
+  return derived();
+}
+
+namespace internal {
+
+template<typename Derived, typename OtherDerived,
+         bool EvalBeforeAssigning = (int(OtherDerived::Flags) & EvalBeforeAssigningBit) != 0,
+         bool NeedToTranspose = Derived::IsVectorAtCompileTime
+                && OtherDerived::IsVectorAtCompileTime
+                && ((int(Derived::RowsAtCompileTime) == 1 && int(OtherDerived::ColsAtCompileTime) == 1)
+                      |  // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                         // revert to || as soon as not needed anymore.
+                    (int(Derived::ColsAtCompileTime) == 1 && int(OtherDerived::RowsAtCompileTime) == 1))
+                && int(Derived::SizeAtCompileTime) != 1>
+struct assign_selector;
+
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,false,false> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,true,false> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,false,true> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,true,true> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
+{
+  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
+{
+  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  other.evalTo(derived());
+  return derived();
+}
+
+#endif // EIGEN_ASSIGN_H
diff --git a/extern/Eigen3/Eigen/src/Core/BandMatrix.h b/extern/Eigen3/Eigen/src/Core/BandMatrix.h
new file mode 100644
index 00000000000..2570d7b559f
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/BandMatrix.h
@@ -0,0 +1,346 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BANDMATRIX_H
+#define EIGEN_BANDMATRIX_H
+
+namespace internal {
+
+
+template<typename Derived>
+class BandMatrixBase : public EigenBase<Derived>
+{
+  public:
+
+    enum {
+      Flags = internal::traits<Derived>::Flags,
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      Supers = internal::traits<Derived>::Supers,
+      Subs   = internal::traits<Derived>::Subs,
+      Options = internal::traits<Derived>::Options
+    };
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
+    typedef typename DenseMatrixType::Index Index;
+    typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
+    typedef EigenBase<Derived> Base;
+
+  protected:
+    enum {
+      DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic))
+                            ? 1 + Supers + Subs
+                            : Dynamic,
+      SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime)
+    };
+
+  public:
+    
+    using Base::derived;
+    using Base::rows;
+    using Base::cols;
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return derived().supers(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return derived().subs(); }
+    
+    /** \returns an expression of the underlying coefficient matrix */
+    inline const CoefficientsType& coeffs() const { return derived().coeffs(); }
+    
+    /** \returns an expression of the underlying coefficient matrix */
+    inline CoefficientsType& coeffs() { return derived().coeffs(); }
+
+    /** \returns a vector expression of the \a i -th column,
+      * only the meaningful part is returned.
+      * \warning the internal storage must be column major. */
+    inline Block<CoefficientsType,Dynamic,1> col(Index i)
+    {
+      EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+      Index start = 0;
+      Index len = coeffs().rows();
+      if (i<=supers())
+      {
+        start = supers()-i;
+        len = (std::min)(rows(),std::max<Index>(0,coeffs().rows() - (supers()-i)));
+      }
+      else if (i>=rows()-subs())
+        len = std::max<Index>(0,coeffs().rows() - (i + 1 - rows() + subs()));
+      return Block<CoefficientsType,Dynamic,1>(coeffs(), start, i, len, 1);
+    }
+
+    /** \returns a vector expression of the main diagonal */
+    inline Block<CoefficientsType,1,SizeAtCompileTime> diagonal()
+    { return Block<CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
+
+    /** \returns a vector expression of the main diagonal (const version) */
+    inline const Block<const CoefficientsType,1,SizeAtCompileTime> diagonal() const
+    { return Block<const CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
+
+    template<int Index> struct DiagonalIntReturnType {
+      enum {
+        ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)),
+        Conjugate = ReturnOpposite && NumTraits<Scalar>::IsComplex,
+        ActualIndex = ReturnOpposite ? -Index : Index,
+        DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic)
+                     ? Dynamic
+                     : (ActualIndex<0
+                     ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex)
+                     : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex))
+      };
+      typedef Block<CoefficientsType,1, DiagonalSize> BuildType;
+      typedef typename internal::conditional<Conjugate,
+                 CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>,BuildType >,
+                 BuildType>::type Type;
+    };
+
+    /** \returns a vector expression of the \a N -th sub or super diagonal */
+    template<int N> inline typename DiagonalIntReturnType<N>::Type diagonal()
+    {
+      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
+    }
+
+    /** \returns a vector expression of the \a N -th sub or super diagonal */
+    template<int N> inline const typename DiagonalIntReturnType<N>::Type diagonal() const
+    {
+      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
+    }
+
+    /** \returns a vector expression of the \a i -th sub or super diagonal */
+    inline Block<CoefficientsType,1,Dynamic> diagonal(Index i)
+    {
+      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+      return Block<CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+    }
+
+    /** \returns a vector expression of the \a i -th sub or super diagonal */
+    inline const Block<const CoefficientsType,1,Dynamic> diagonal(Index i) const
+    {
+      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+      return Block<const CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+    }
+    
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      dst.resize(rows(),cols());
+      dst.setZero();
+      dst.diagonal() = diagonal();
+      for (Index i=1; i<=supers();++i)
+        dst.diagonal(i) = diagonal(i);
+      for (Index i=1; i<=subs();++i)
+        dst.diagonal(-i) = diagonal(-i);
+    }
+
+    DenseMatrixType toDenseMatrix() const
+    {
+      DenseMatrixType res(rows(),cols());
+      evalTo(res);
+      return res;
+    }
+
+  protected:
+
+    inline Index diagonalLength(Index i) const
+    { return i<0 ? (std::min)(cols(),rows()+i) : (std::min)(rows(),cols()-i); }
+};
+
+/**
+  * \class BandMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a rectangular matrix with a banded storage
+  *
+  * \param _Scalar Numeric type, i.e. float, double, int
+  * \param Rows Number of rows, or \b Dynamic
+  * \param Cols Number of columns, or \b Dynamic
+  * \param Supers Number of super diagonal
+  * \param Subs Number of sub diagonal
+  * \param _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
+  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to
+  *                 column-major. The latter controls whether the matrix represents a selfadjoint 
+  *                 matrix in which case either Supers of Subs have to be null.
+  *
+  * \sa class TridiagonalMatrix
+  */
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _Rows,
+    MaxColsAtCompileTime = _Cols,
+    Flags = LvalueBit,
+    Supers = _Supers,
+    Subs = _Subs,
+    Options = _Options,
+    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+  };
+  typedef Matrix<Scalar,DataRowsAtCompileTime,ColsAtCompileTime,Options&RowMajor?RowMajor:ColMajor> CoefficientsType;
+};
+
+template<typename _Scalar, int Rows, int Cols, int Supers, int Subs, int Options>
+class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Subs,Options> >
+{
+  public:
+
+    typedef typename internal::traits<BandMatrix>::Scalar Scalar;
+    typedef typename internal::traits<BandMatrix>::Index Index;
+    typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
+
+    inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
+      : m_coeffs(1+supers+subs,cols),
+        m_rows(rows), m_supers(supers), m_subs(subs)
+    {
+    }
+
+    /** \returns the number of columns */
+    inline Index rows() const { return m_rows.value(); }
+
+    /** \returns the number of rows */
+    inline Index cols() const { return m_coeffs.cols(); }
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return m_supers.value(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return m_subs.value(); }
+
+    inline const CoefficientsType& coeffs() const { return m_coeffs; }
+    inline CoefficientsType& coeffs() { return m_coeffs; }
+
+  protected:
+
+    CoefficientsType m_coeffs;
+    internal::variable_if_dynamic<Index, Rows>   m_rows;
+    internal::variable_if_dynamic<Index, Supers> m_supers;
+    internal::variable_if_dynamic<Index, Subs>   m_subs;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper;
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef typename _CoefficientsType::Scalar Scalar;
+  typedef typename _CoefficientsType::StorageKind StorageKind;
+  typedef typename _CoefficientsType::Index Index;
+  enum {
+    CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _Rows,
+    MaxColsAtCompileTime = _Cols,
+    Flags = LvalueBit,
+    Supers = _Supers,
+    Subs = _Subs,
+    Options = _Options,
+    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+  };
+  typedef _CoefficientsType CoefficientsType;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  public:
+
+    typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
+    typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
+    typedef typename internal::traits<BandMatrixWrapper>::Index Index;
+
+    inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
+      : m_coeffs(coeffs),
+        m_rows(rows), m_supers(supers), m_subs(subs)
+    {
+      EIGEN_UNUSED_VARIABLE(cols);
+      //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
+    }
+
+    /** \returns the number of columns */
+    inline Index rows() const { return m_rows.value(); }
+
+    /** \returns the number of rows */
+    inline Index cols() const { return m_coeffs.cols(); }
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return m_supers.value(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return m_subs.value(); }
+
+    inline const CoefficientsType& coeffs() const { return m_coeffs; }
+
+  protected:
+
+    const CoefficientsType& m_coeffs;
+    internal::variable_if_dynamic<Index, _Rows>   m_rows;
+    internal::variable_if_dynamic<Index, _Supers> m_supers;
+    internal::variable_if_dynamic<Index, _Subs>   m_subs;
+};
+
+/**
+  * \class TridiagonalMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a tridiagonal matrix with a compact banded storage
+  *
+  * \param _Scalar Numeric type, i.e. float, double, int
+  * \param Size Number of rows and cols, or \b Dynamic
+  * \param _Options Can be 0 or \b SelfAdjoint
+  *
+  * \sa class BandMatrix
+  */
+template<typename Scalar, int Size, int Options>
+class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
+{
+    typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
+    typedef typename Base::Index Index;
+  public:
+    TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
+
+    inline typename Base::template DiagonalIntReturnType<1>::Type super()
+    { return Base::template diagonal<1>(); }
+    inline const typename Base::template DiagonalIntReturnType<1>::Type super() const
+    { return Base::template diagonal<1>(); }
+    inline typename Base::template DiagonalIntReturnType<-1>::Type sub()
+    { return Base::template diagonal<-1>(); }
+    inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const
+    { return Base::template diagonal<-1>(); }
+  protected:
+};
+
+} // end namespace internal
+
+#endif // EIGEN_BANDMATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/Block.h b/extern/Eigen3/Eigen/src/Core/Block.h
new file mode 100644
index 00000000000..2b251bc2ca9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Block.h
@@ -0,0 +1,349 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK_H
+#define EIGEN_BLOCK_H
+
+/** \class Block
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size block
+  *
+  * \param XprType the type of the expression in which we are taking a block
+  * \param BlockRows the number of rows of the block we are taking at compile time (optional)
+  * \param BlockCols the number of columns of the block we are taking at compile time (optional)
+  * \param _DirectAccessStatus \internal used for partial specialization
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
+  * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
+  * most of the time this is the only way it is used.
+  *
+  * However, if you want to directly maniputate block expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_Block.cpp
+  * Output: \verbinclude class_Block.out
+  *
+  * \note Even though this expression has dynamic size, in the case where \a XprType
+  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+  * it does not cause a dynamic memory allocation.
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedBlock.cpp
+  * Output: \verbinclude class_FixedBlock.out
+  *
+  * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
+  */
+
+namespace internal {
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess>
+struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess> > : traits<XprType>
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename traits<XprType>::StorageKind StorageKind;
+  typedef typename traits<XprType>::XprKind XprKind;
+  typedef typename nested<XprType>::type XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum{
+    MatrixRows = traits<XprType>::RowsAtCompileTime,
+    MatrixCols = traits<XprType>::ColsAtCompileTime,
+    RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
+    ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
+    MaxRowsAtCompileTime = BlockRows==0 ? 0
+                         : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
+                         : int(traits<XprType>::MaxRowsAtCompileTime),
+    MaxColsAtCompileTime = BlockCols==0 ? 0
+                         : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
+                         : int(traits<XprType>::MaxColsAtCompileTime),
+    XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
+    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+               : XprTypeIsRowMajor,
+    HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
+    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(inner_stride_at_compile_time<XprType>::ret)
+                             : int(outer_stride_at_compile_time<XprType>::ret),
+    OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(outer_stride_at_compile_time<XprType>::ret)
+                             : int(inner_stride_at_compile_time<XprType>::ret),
+    MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
+                       && (InnerStrideAtCompileTime == 1)
+                        ? PacketAccessBit : 0,
+    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && ((OuterStrideAtCompileTime % packet_traits<Scalar>::size) == 0)) ? AlignedBit : 0,
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
+    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
+    FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
+    Flags0 = traits<XprType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
+                                        DirectAccessBit |
+                                        MaskPacketAccessBit |
+                                        MaskAlignedBit),
+    Flags = Flags0 | FlagsLinearAccessBit | FlagsLvalueBit | FlagsRowMajorBit
+  };
+};
+}
+
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class Block
+  : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Block>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Block)
+
+    class InnerIterator;
+
+    /** Column or Row constructor
+      */
+    inline Block(XprType& xpr, Index i)
+      : m_xpr(xpr),
+        // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
+        // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1,
+        // all other cases are invalid.
+        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+        m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
+        m_blockCols(BlockCols==1 ? 1 : xpr.cols())
+    {
+      eigen_assert( (i>=0) && (
+          ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
+        ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
+    }
+
+    /** Fixed-size constructor
+      */
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+        m_blockRows(BlockRows), m_blockCols(BlockCols)
+    {
+      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+      eigen_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= xpr.cols());
+    }
+
+    /** Dynamic-size constructor
+      */
+    inline Block(XprType& xpr,
+          Index startRow, Index startCol,
+          Index blockRows, Index blockCols)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+                          m_blockRows(blockRows), m_blockCols(blockCols)
+    {
+      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow + blockRows <= xpr.rows()
+          && startCol >= 0 && blockCols >= 0 && startCol + blockCols <= xpr.cols());
+    }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+
+    inline Index rows() const { return m_blockRows.value(); }
+    inline Index cols() const { return m_blockCols.value(); }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(XprType)
+      return m_xpr.const_cast_derived()
+               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_xpr.derived()
+               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_xpr.coeff(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(XprType)
+      return m_xpr.const_cast_derived()
+             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_xpr.const_cast_derived()
+             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_xpr
+             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      return m_xpr.template packet<Unaligned>
+              (row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_xpr.const_cast_derived().template writePacket<Unaligned>
+              (row + m_startRow.value(), col + m_startCol.value(), x);
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index index) const
+    {
+      return m_xpr.template packet<Unaligned>
+              (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_xpr.const_cast_derived().template writePacket<Unaligned>
+         (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+          m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), x);
+    }
+
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    /** \sa MapBase::data() */
+    inline const Scalar* data() const;
+    inline Index innerStride() const;
+    inline Index outerStride() const;
+    #endif
+
+  protected:
+
+    const typename XprType::Nested m_xpr;
+    const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
+};
+
+/** \internal */
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+class Block<XprType,BlockRows,BlockCols, InnerPanel,true>
+  : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel, true> >
+{
+  public:
+
+    typedef MapBase<Block> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Block)
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+
+    /** Column or Row constructor
+      */
+    inline Block(XprType& xpr, Index i)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(
+              (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0,
+              (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)),
+             BlockRows==1 ? 1 : xpr.rows(),
+             BlockCols==1 ? 1 : xpr.cols()),
+        m_xpr(xpr)
+    {
+      eigen_assert( (i>=0) && (
+          ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
+        ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
+      init();
+    }
+
+    /** Fixed-size constructor
+      */
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol))), m_xpr(xpr)
+    {
+      eigen_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= xpr.cols());
+      init();
+    }
+
+    /** Dynamic-size constructor
+      */
+    inline Block(XprType& xpr,
+          Index startRow, Index startCol,
+          Index blockRows, Index blockCols)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol)), blockRows, blockCols),
+        m_xpr(xpr)
+    {
+      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+             && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow + blockRows <= xpr.rows()
+             && startCol >= 0 && blockCols >= 0 && startCol + blockCols <= xpr.cols());
+      init();
+    }
+
+    /** \sa MapBase::innerStride() */
+    inline Index innerStride() const
+    {
+      return internal::traits<Block>::HasSameStorageOrderAsXprType
+             ? m_xpr.innerStride()
+             : m_xpr.outerStride();
+    }
+
+    /** \sa MapBase::outerStride() */
+    inline Index outerStride() const
+    {
+      return m_outerStride;
+    }
+
+  #ifndef __SUNPRO_CC
+  // FIXME sunstudio is not friendly with the above friend...
+  // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
+  protected:
+  #endif
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal used by allowAligned() */
+    inline Block(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
+      : Base(data, blockRows, blockCols), m_xpr(xpr)
+    {
+      init();
+    }
+    #endif
+
+  protected:
+    void init()
+    {
+      m_outerStride = internal::traits<Block>::HasSameStorageOrderAsXprType
+                    ? m_xpr.outerStride()
+                    : m_xpr.innerStride();
+    }
+
+    const typename XprType::Nested m_xpr;
+    int m_outerStride;
+};
+
+
+#endif // EIGEN_BLOCK_H
diff --git a/extern/Eigen2/Eigen/src/Array/BooleanRedux.h b/extern/Eigen3/Eigen/src/Core/BooleanRedux.h
index 4e8218327eb..5c3444a57c9 100644
--- a/extern/Eigen2/Eigen/src/Array/BooleanRedux.h
+++ b/extern/Eigen3/Eigen/src/Core/BooleanRedux.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,8 +25,10 @@
 #ifndef EIGEN_ALLANDANY_H
 #define EIGEN_ALLANDANY_H
 
+namespace internal {
+
 template<typename Derived, int UnrollCount>
-struct ei_all_unroller
+struct all_unroller
 {
   enum {
     col = (UnrollCount-1) / Derived::RowsAtCompileTime,
@@ -35,24 +37,24 @@ struct ei_all_unroller
 
   inline static bool run(const Derived &mat)
   {
-    return ei_all_unroller<Derived, UnrollCount-1>::run(mat) && mat.coeff(row, col);
+    return all_unroller<Derived, UnrollCount-1>::run(mat) && mat.coeff(row, col);
   }
 };
 
 template<typename Derived>
-struct ei_all_unroller<Derived, 1>
+struct all_unroller<Derived, 1>
 {
   inline static bool run(const Derived &mat) { return mat.coeff(0, 0); }
 };
 
 template<typename Derived>
-struct ei_all_unroller<Derived, Dynamic>
+struct all_unroller<Derived, Dynamic>
 {
   inline static bool run(const Derived &) { return false; }
 };
 
 template<typename Derived, int UnrollCount>
-struct ei_any_unroller
+struct any_unroller
 {
   enum {
     col = (UnrollCount-1) / Derived::RowsAtCompileTime,
@@ -61,85 +63,87 @@ struct ei_any_unroller
 
   inline static bool run(const Derived &mat)
   {
-    return ei_any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
+    return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
   }
 };
 
 template<typename Derived>
-struct ei_any_unroller<Derived, 1>
+struct any_unroller<Derived, 1>
 {
   inline static bool run(const Derived &mat) { return mat.coeff(0, 0); }
 };
 
 template<typename Derived>
-struct ei_any_unroller<Derived, Dynamic>
+struct any_unroller<Derived, Dynamic>
 {
   inline static bool run(const Derived &) { return false; }
 };
 
-/** \array_module
-  * 
-  * \returns true if all coefficients are true
-  *
-  * \addexample CwiseAll \label How to check whether a point is inside a box (using operator< and all())
+} // end namespace internal
+
+/** \returns true if all coefficients are true
   *
   * Example: \include MatrixBase_all.cpp
   * Output: \verbinclude MatrixBase_all.out
   *
-  * \sa MatrixBase::any(), Cwise::operator<()
+  * \sa any(), Cwise::operator<()
   */
 template<typename Derived>
-inline bool MatrixBase<Derived>::all() const
+inline bool DenseBase<Derived>::all() const
 {
-  const bool unroll = SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost)
-                      <= EIGEN_UNROLLING_LIMIT;
+  enum {
+    unroll = SizeAtCompileTime != Dynamic
+          && CoeffReadCost != Dynamic
+          && NumTraits<Scalar>::AddCost != Dynamic
+          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+  };
   if(unroll)
-    return ei_all_unroller<Derived,
+    return internal::all_unroller<Derived,
                            unroll ? int(SizeAtCompileTime) : Dynamic
      >::run(derived());
   else
   {
-    for(int j = 0; j < cols(); ++j)
-      for(int i = 0; i < rows(); ++i)
+    for(Index j = 0; j < cols(); ++j)
+      for(Index i = 0; i < rows(); ++i)
         if (!coeff(i, j)) return false;
     return true;
   }
 }
 
-/** \array_module
-  * 
-  * \returns true if at least one coefficient is true
+/** \returns true if at least one coefficient is true
   *
-  * \sa MatrixBase::all()
+  * \sa all()
   */
 template<typename Derived>
-inline bool MatrixBase<Derived>::any() const
+inline bool DenseBase<Derived>::any() const
 {
-  const bool unroll = SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost)
-                      <= EIGEN_UNROLLING_LIMIT;
+  enum {
+    unroll = SizeAtCompileTime != Dynamic
+          && CoeffReadCost != Dynamic
+          && NumTraits<Scalar>::AddCost != Dynamic
+          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+  };
   if(unroll)
-    return ei_any_unroller<Derived,
+    return internal::any_unroller<Derived,
                            unroll ? int(SizeAtCompileTime) : Dynamic
            >::run(derived());
   else
   {
-    for(int j = 0; j < cols(); ++j)
-      for(int i = 0; i < rows(); ++i)
+    for(Index j = 0; j < cols(); ++j)
+      for(Index i = 0; i < rows(); ++i)
         if (coeff(i, j)) return true;
     return false;
   }
 }
 
-/** \array_module
-  * 
-  * \returns the number of coefficients which evaluate to true
+/** \returns the number of coefficients which evaluate to true
   *
-  * \sa MatrixBase::all(), MatrixBase::any()
+  * \sa all(), any()
   */
 template<typename Derived>
-inline int MatrixBase<Derived>::count() const
+inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
 {
-  return this->cast<bool>().cast<int>().sum();
+  return derived().template cast<bool>().template cast<Index>().sum();
 }
 
 #endif // EIGEN_ALLANDANY_H
diff --git a/extern/Eigen2/Eigen/src/Core/CommaInitializer.h b/extern/Eigen3/Eigen/src/Core/CommaInitializer.h
index f66cbd6d5e1..92422bf2fa0 100644
--- a/extern/Eigen2/Eigen/src/Core/CommaInitializer.h
+++ b/extern/Eigen3/Eigen/src/Core/CommaInitializer.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
@@ -27,6 +27,7 @@
 #define EIGEN_COMMAINITIALIZER_H
 
 /** \class CommaInitializer
+  * \ingroup Core_Module
   *
   * \brief Helper class used by the comma initializer operator
   *
@@ -36,70 +37,72 @@
   *
   * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
   */
-template<typename MatrixType>
+template<typename XprType>
 struct CommaInitializer
 {
-  typedef typename ei_traits<MatrixType>::Scalar Scalar;
-  inline CommaInitializer(MatrixType& mat, const Scalar& s)
-    : m_matrix(mat), m_row(0), m_col(1), m_currentBlockRows(1)
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::Index Index;
+
+  inline CommaInitializer(XprType& xpr, const Scalar& s)
+    : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
   {
-    m_matrix.coeffRef(0,0) = s;
+    m_xpr.coeffRef(0,0) = s;
   }
 
   template<typename OtherDerived>
-  inline CommaInitializer(MatrixType& mat, const MatrixBase<OtherDerived>& other)
-    : m_matrix(mat), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
+  inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
+    : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
   {
-    m_matrix.block(0, 0, other.rows(), other.cols()) = other;
+    m_xpr.block(0, 0, other.rows(), other.cols()) = other;
   }
 
   /* inserts a scalar value in the target matrix */
   CommaInitializer& operator,(const Scalar& s)
   {
-    if (m_col==m_matrix.cols())
+    if (m_col==m_xpr.cols())
     {
       m_row+=m_currentBlockRows;
       m_col = 0;
       m_currentBlockRows = 1;
-      ei_assert(m_row<m_matrix.rows()
+      eigen_assert(m_row<m_xpr.rows()
         && "Too many rows passed to comma initializer (operator<<)");
     }
-    ei_assert(m_col<m_matrix.cols()
+    eigen_assert(m_col<m_xpr.cols()
       && "Too many coefficients passed to comma initializer (operator<<)");
-    ei_assert(m_currentBlockRows==1);
-    m_matrix.coeffRef(m_row, m_col++) = s;
+    eigen_assert(m_currentBlockRows==1);
+    m_xpr.coeffRef(m_row, m_col++) = s;
     return *this;
   }
 
   /* inserts a matrix expression in the target matrix */
   template<typename OtherDerived>
-  CommaInitializer& operator,(const MatrixBase<OtherDerived>& other)
+  CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
   {
-    if (m_col==m_matrix.cols())
+    if (m_col==m_xpr.cols())
     {
       m_row+=m_currentBlockRows;
       m_col = 0;
       m_currentBlockRows = other.rows();
-      ei_assert(m_row+m_currentBlockRows<=m_matrix.rows()
+      eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
         && "Too many rows passed to comma initializer (operator<<)");
     }
-    ei_assert(m_col<m_matrix.cols()
+    eigen_assert(m_col<m_xpr.cols()
       && "Too many coefficients passed to comma initializer (operator<<)");
-    ei_assert(m_currentBlockRows==other.rows());
+    eigen_assert(m_currentBlockRows==other.rows());
     if (OtherDerived::SizeAtCompileTime != Dynamic)
-      m_matrix.template block<OtherDerived::RowsAtCompileTime != Dynamic ? OtherDerived::RowsAtCompileTime : 1,
+      m_xpr.template block<OtherDerived::RowsAtCompileTime != Dynamic ? OtherDerived::RowsAtCompileTime : 1,
                               OtherDerived::ColsAtCompileTime != Dynamic ? OtherDerived::ColsAtCompileTime : 1>
                     (m_row, m_col) = other;
     else
-      m_matrix.block(m_row, m_col, other.rows(), other.cols()) = other;
+      m_xpr.block(m_row, m_col, other.rows(), other.cols()) = other;
     m_col += other.cols();
     return *this;
   }
 
   inline ~CommaInitializer()
   {
-    ei_assert((m_row+m_currentBlockRows) == m_matrix.rows()
-         && m_col == m_matrix.cols()
+    eigen_assert((m_row+m_currentBlockRows) == m_xpr.rows()
+         && m_col == m_xpr.cols()
          && "Too few coefficients passed to comma initializer (operator<<)");
   }
 
@@ -110,15 +113,12 @@ struct CommaInitializer
     * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
     * \endcode
     */
-  inline MatrixType& finished() { return m_matrix; }
-
-  MatrixType& m_matrix;   // target matrix
-  int m_row;              // current row id
-  int m_col;              // current col id
-  int m_currentBlockRows; // current block height
+  inline XprType& finished() { return m_xpr; }
 
-private:
-  CommaInitializer& operator=(const CommaInitializer&);
+  XprType& m_xpr;   // target expression
+  Index m_row;              // current row id
+  Index m_col;              // current col id
+  Index m_currentBlockRows; // current block height
 };
 
 /** \anchor MatrixBaseCommaInitRef
@@ -127,15 +127,13 @@ private:
   * The coefficients must be provided in a row major order and exactly match
   * the size of the matrix. Otherwise an assertion is raised.
   *
-  * \addexample CommaInit \label How to easily set all the coefficients of a matrix
-  *
   * Example: \include MatrixBase_set.cpp
   * Output: \verbinclude MatrixBase_set.out
   *
   * \sa CommaInitializer::finished(), class CommaInitializer
   */
 template<typename Derived>
-inline CommaInitializer<Derived> MatrixBase<Derived>::operator<< (const Scalar& s)
+inline CommaInitializer<Derived> DenseBase<Derived>::operator<< (const Scalar& s)
 {
   return CommaInitializer<Derived>(*static_cast<Derived*>(this), s);
 }
@@ -144,7 +142,7 @@ inline CommaInitializer<Derived> MatrixBase<Derived>::operator<< (const Scalar&
 template<typename Derived>
 template<typename OtherDerived>
 inline CommaInitializer<Derived>
-MatrixBase<Derived>::operator<<(const MatrixBase<OtherDerived>& other)
+DenseBase<Derived>::operator<<(const DenseBase<OtherDerived>& other)
 {
   return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
 }
diff --git a/extern/Eigen3/Eigen/src/Core/CwiseBinaryOp.h b/extern/Eigen3/Eigen/src/Core/CwiseBinaryOp.h
new file mode 100644
index 00000000000..7386b2e1843
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/CwiseBinaryOp.h
@@ -0,0 +1,240 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_BINARY_OP_H
+#define EIGEN_CWISE_BINARY_OP_H
+
+/** \class CwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
+  *
+  * \param BinaryOp template functor implementing the operator
+  * \param Lhs the type of the left-hand side
+  * \param Rhs the type of the right-hand side
+  *
+  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
+  * It is the return type of binary operators, by which we mean only those binary operators where
+  * both the left-hand side and the right-hand side are Eigen expressions.
+  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseBinaryOp types explicitly.
+  *
+  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
+  */
+
+namespace internal {
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  // we must not inherit from traits<Lhs> since it has
+  // the potential to cause problems with MSVC
+  typedef typename remove_all<Lhs>::type Ancestor;
+  typedef typename traits<Ancestor>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+  };
+
+  // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
+  // we still want to handle the case when the result type is different.
+  typedef typename result_of<
+                     BinaryOp(
+                       typename Lhs::Scalar,
+                       typename Rhs::Scalar
+                     )
+                   >::type Scalar;
+  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
+                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename Lhs::Nested LhsNested;
+  typedef typename Rhs::Nested RhsNested;
+  typedef typename remove_reference<LhsNested>::type _LhsNested;
+  typedef typename remove_reference<RhsNested>::type _RhsNested;
+  enum {
+    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+    LhsFlags = _LhsNested::Flags,
+    RhsFlags = _RhsNested::Flags,
+    SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
+    StorageOrdersAgree = (int(Lhs::Flags)&RowMajorBit)==(int(Rhs::Flags)&RowMajorBit),
+    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
+        HereditaryBits
+      | (int(LhsFlags) & int(RhsFlags) &
+           ( AlignedBit
+           | (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
+    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + functor_traits<BinaryOp>::Cost
+  };
+};
+} // end namespace internal
+
+// we require Lhs and Rhs to have the same scalar type. Currently there is no example of a binary functor
+// that would take two operands of different types. If there were such an example, then this check should be
+// moved to the BinaryOp functors, on a per-case basis. This would however require a change in the BinaryOp functors, as
+// currently they take only one typename Scalar template parameter.
+// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
+// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
+// add together a float matrix and a double matrix.
+#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
+  EIGEN_STATIC_ASSERT((internal::functor_allows_mixing_real_and_complex<BINOP>::ret \
+                        ? int(internal::is_same<typename NumTraits<LHS>::Real, typename NumTraits<RHS>::Real>::value) \
+                        : int(internal::is_same<LHS, RHS>::value)), \
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl;
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOp : internal::no_assignment_operator,
+  public CwiseBinaryOpImpl<
+          BinaryOp, Lhs, Rhs,
+          typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                           typename internal::traits<Rhs>::StorageKind>::ret>
+{
+  public:
+
+    typedef typename CwiseBinaryOpImpl<
+        BinaryOp, Lhs, Rhs,
+        typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                         typename internal::traits<Rhs>::StorageKind>::ret>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
+
+    typedef typename internal::nested<Lhs>::type LhsNested;
+    typedef typename internal::nested<Rhs>::type RhsNested;
+    typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+    typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
+
+    EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& lhs, const Rhs& rhs, const BinaryOp& func = BinaryOp())
+      : m_lhs(lhs), m_rhs(rhs), m_functor(func)
+    {
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
+      // require the sizes to match
+      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
+      eigen_assert(lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols());
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const {
+      // return the fixed size type if available to enable compile time optimizations
+      if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
+        return m_rhs.rows();
+      else
+        return m_lhs.rows();
+    }
+    EIGEN_STRONG_INLINE Index cols() const {
+      // return the fixed size type if available to enable compile time optimizations
+      if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
+        return m_rhs.cols();
+      else
+        return m_lhs.cols();
+    }
+
+    /** \returns the left hand side nested expression */
+    const _LhsNested& lhs() const { return m_lhs; }
+    /** \returns the right hand side nested expression */
+    const _RhsNested& rhs() const { return m_rhs; }
+    /** \returns the functor representing the binary operation */
+    const BinaryOp& functor() const { return m_functor; }
+
+  protected:
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+    const BinaryOp m_functor;
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Dense>
+  : public internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+{
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+  public:
+
+    typedef typename internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE( Derived )
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().lhs().coeff(row, col),
+                                 derived().rhs().coeff(row, col));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(row, col),
+                                          derived().rhs().template packet<LoadMode>(row, col));
+    }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      return derived().functor()(derived().lhs().coeff(index),
+                                 derived().rhs().coeff(index));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(index),
+                                          derived().rhs().template packet<LoadMode>(index));
+    }
+};
+
+/** replaces \c *this by \c *this - \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
+{
+  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+#endif // EIGEN_CWISE_BINARY_OP_H
diff --git a/extern/Eigen2/Eigen/src/Core/CwiseNullaryOp.h b/extern/Eigen3/Eigen/src/Core/CwiseNullaryOp.h
index 4ee5b58afec..c616e7ae13d 100644
--- a/extern/Eigen2/Eigen/src/Core/CwiseNullaryOp.h
+++ b/extern/Eigen3/Eigen/src/Core/CwiseNullaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -26,81 +26,84 @@
 #define EIGEN_CWISE_NULLARY_OP_H
 
 /** \class CwiseNullaryOp
+  * \ingroup Core_Module
   *
   * \brief Generic expression of a matrix where all coefficients are defined by a functor
   *
   * \param NullaryOp template functor implementing the operator
+  * \param PlainObjectType the underlying plain matrix/array type
   *
   * This class represents an expression of a generic nullary operator.
-  * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() functions,
+  * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
   * and most of the time this is the only way it is used.
   *
   * However, if you want to write a function returning such an expression, you
   * will need to use this class.
   *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp, MatrixBase::NullaryExpr()
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr()
   */
-template<typename NullaryOp, typename MatrixType>
-struct ei_traits<CwiseNullaryOp<NullaryOp, MatrixType> > : ei_traits<MatrixType>
+
+namespace internal {
+template<typename NullaryOp, typename PlainObjectType>
+struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
 {
   enum {
-    Flags = (ei_traits<MatrixType>::Flags
+    Flags = (traits<PlainObjectType>::Flags
       & (  HereditaryBits
-         | (ei_functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
-         | (ei_functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
-      | (ei_functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
-    CoeffReadCost = ei_functor_traits<NullaryOp>::Cost
+         | (functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
+         | (functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
+      | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
+    CoeffReadCost = functor_traits<NullaryOp>::Cost
   };
 };
+}
 
-template<typename NullaryOp, typename MatrixType>
-class CwiseNullaryOp : ei_no_assignment_operator,
-  public MatrixBase<CwiseNullaryOp<NullaryOp, MatrixType> >
+template<typename NullaryOp, typename PlainObjectType>
+class CwiseNullaryOp : internal::no_assignment_operator,
+  public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseNullaryOp)
+    typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
 
-    CwiseNullaryOp(int rows, int cols, const NullaryOp& func = NullaryOp())
+    CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
       : m_rows(rows), m_cols(cols), m_functor(func)
     {
-      ei_assert(rows > 0
-          && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
-          && cols > 0
-          && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+      eigen_assert(rows >= 0
+            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+            &&  cols >= 0
+            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
     }
 
-    EIGEN_STRONG_INLINE int rows() const { return m_rows.value(); }
-    EIGEN_STRONG_INLINE int cols() const { return m_cols.value(); }
+    EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(int rows, int cols) const
+    EIGEN_STRONG_INLINE const Scalar coeff(Index rows, Index cols) const
     {
       return m_functor(rows, cols);
     }
 
     template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int, int) const
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
     {
-      return m_functor.packetOp();
+      return m_functor.packetOp(row, col);
     }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(int index) const
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
     {
-      if(RowsAtCompileTime == 1)
-        return m_functor(0, index);
-      else
-        return m_functor(index, 0);
+      return m_functor(index);
     }
 
     template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(int) const
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
     {
-      return m_functor.packetOp();
+      return m_functor.packetOp(index);
     }
 
   protected:
-    const ei_int_if_dynamic<RowsAtCompileTime> m_rows;
-    const ei_int_if_dynamic<ColsAtCompileTime> m_cols;
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
     const NullaryOp m_functor;
 };
 
@@ -121,7 +124,7 @@ class CwiseNullaryOp : ei_no_assignment_operator,
 template<typename Derived>
 template<typename CustomNullaryOp>
 EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
-MatrixBase<Derived>::NullaryExpr(int rows, int cols, const CustomNullaryOp& func)
+DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
 {
   return CwiseNullaryOp<CustomNullaryOp, Derived>(rows, cols, func);
 }
@@ -144,17 +147,16 @@ MatrixBase<Derived>::NullaryExpr(int rows, int cols, const CustomNullaryOp& func
 template<typename Derived>
 template<typename CustomNullaryOp>
 EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
-MatrixBase<Derived>::NullaryExpr(int size, const CustomNullaryOp& func)
+DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  ei_assert(IsVectorAtCompileTime);
   if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
   else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
 }
 
 /** \returns an expression of a matrix defined by a custom functor \a func
   *
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
   * need to use the variants taking size arguments.
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -164,7 +166,7 @@ MatrixBase<Derived>::NullaryExpr(int size, const CustomNullaryOp& func)
 template<typename Derived>
 template<typename CustomNullaryOp>
 EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
-MatrixBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
+DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
 {
   return CwiseNullaryOp<CustomNullaryOp, Derived>(RowsAtCompileTime, ColsAtCompileTime, func);
 }
@@ -172,7 +174,7 @@ MatrixBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
 /** \returns an expression of a constant matrix of value \a value
   *
   * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
+  * the returned matrix. Must be compatible with this DenseBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
   * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
@@ -183,16 +185,16 @@ MatrixBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Constant(int rows, int cols, const Scalar& value)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
 {
-  return NullaryExpr(rows, cols, ei_scalar_constant_op<Scalar>(value));
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
 }
 
 /** \returns an expression of a constant matrix of value \a value
   *
   * The parameter \a size is the size of the returned vector.
-  * Must be compatible with this MatrixBase type.
+  * Must be compatible with this DenseBase type.
   *
   * \only_for_vectors
   *
@@ -205,15 +207,15 @@ MatrixBase<Derived>::Constant(int rows, int cols, const Scalar& value)
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Constant(int size, const Scalar& value)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index size, const Scalar& value)
 {
-  return NullaryExpr(size, ei_scalar_constant_op<Scalar>(value));
+  return DenseBase<Derived>::NullaryExpr(size, internal::scalar_constant_op<Scalar>(value));
 }
 
 /** \returns an expression of a constant matrix of value \a value
   *
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
   * need to use the variants taking size arguments.
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -221,21 +223,90 @@ MatrixBase<Derived>::Constant(int size, const Scalar& value)
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Constant(const Scalar& value)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(const Scalar& value)
+{
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
+}
+
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  * This particular version of LinSpaced() uses sequential access, i.e. vector access is
+  * assumed to be a(0), a(1), ..., a(size). This assumption allows for better vectorization
+  * and yields faster code than the random access version.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_LinSpaced_seq.cpp
+  * Output: \verbinclude DenseBase_LinSpaced_seq.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Index,Scalar,Scalar), CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+}
+
+/**
+  * \copydoc DenseBase::LinSpaced(Sequential_t, Index, const Scalar&, const Scalar&)
+  * Special version for fixed size types which does not require the size parameter.
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,false>(low,high,Derived::SizeAtCompileTime));
+}
+
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_LinSpaced.cpp
+  * Output: \verbinclude DenseBase_LinSpaced.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Sequential_t,Index,const Scalar&,const Scalar&,Index), CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,true>(low,high,size));
+}
+
+/**
+  * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&)
+  * Special version for fixed size types which does not require the size parameter.
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
 {
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, ei_scalar_constant_op<Scalar>(value));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,true>(low,high,Derived::SizeAtCompileTime));
 }
 
 /** \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
 template<typename Derived>
-bool MatrixBase<Derived>::isApproxToConstant
+bool DenseBase<Derived>::isApproxToConstant
 (const Scalar& value, RealScalar prec) const
 {
-  for(int j = 0; j < cols(); ++j)
-    for(int i = 0; i < rows(); ++i)
-      if(!ei_isApprox(coeff(i, j), value, prec))
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < rows(); ++i)
+      if(!internal::isApprox(this->coeff(i, j), value, prec))
         return false;
   return true;
 }
@@ -244,7 +315,7 @@ bool MatrixBase<Derived>::isApproxToConstant
   *
   * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
 template<typename Derived>
-bool MatrixBase<Derived>::isConstant
+bool DenseBase<Derived>::isConstant
 (const Scalar& value, RealScalar prec) const
 {
   return isApproxToConstant(value, prec);
@@ -255,17 +326,17 @@ bool MatrixBase<Derived>::isConstant
   * \sa setConstant(), Constant(), class CwiseNullaryOp
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE void MatrixBase<Derived>::fill(const Scalar& value)
+EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& value)
 {
   setConstant(value);
 }
 
 /** Sets all coefficients in this expression to \a value.
   *
-  * \sa fill(), setConstant(int,const Scalar&), setConstant(int,int,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
+  * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setConstant(const Scalar& value)
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& value)
 {
   return derived() = Constant(rows(), cols(), value);
 }
@@ -274,14 +345,14 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setConstant(const Scalar& valu
   *
   * \only_for_vectors
   *
-  * Example: \include Matrix_set_int.cpp
+  * Example: \include Matrix_setConstant_int.cpp
   * Output: \verbinclude Matrix_setConstant_int.out
   *
-  * \sa MatrixBase::setConstant(const Scalar&), setConstant(int,int,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int size, const Scalar& value)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index size, const Scalar& value)
 {
   resize(size);
   return setConstant(value);
@@ -291,20 +362,39 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int siz
   *
   * \param rows the new number of rows
   * \param cols the new number of columns
+  * \param value the value to which all coefficients are set
   *
   * Example: \include Matrix_setConstant_int_int.cpp
   * Output: \verbinclude Matrix_setConstant_int_int.out
   *
-  * \sa MatrixBase::setConstant(const Scalar&), setConstant(int,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int rows, int cols, const Scalar& value)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& value)
 {
   resize(rows, cols);
   return setConstant(value);
 }
 
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_setLinSpaced.cpp
+  * Output: \verbinclude DenseBase_setLinSpaced.out
+  *
+  * \sa CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return derived() = Derived::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+}
 
 // zero:
 
@@ -317,16 +407,14 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int row
   * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
   * instead.
   *
-  * \addexample Zero \label How to take get a zero matrix
-  *
   * Example: \include MatrixBase_zero_int_int.cpp
   * Output: \verbinclude MatrixBase_zero_int_int.out
   *
-  * \sa Zero(), Zero(int)
+  * \sa Zero(), Zero(Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Zero(int rows, int cols)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index rows, Index cols)
 {
   return Constant(rows, cols, Scalar(0));
 }
@@ -345,11 +433,11 @@ MatrixBase<Derived>::Zero(int rows, int cols)
   * Example: \include MatrixBase_zero_int.cpp
   * Output: \verbinclude MatrixBase_zero_int.out
   *
-  * \sa Zero(), Zero(int,int)
+  * \sa Zero(), Zero(Index,Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Zero(int size)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index size)
 {
   return Constant(size, Scalar(0));
 }
@@ -362,11 +450,11 @@ MatrixBase<Derived>::Zero(int size)
   * Example: \include MatrixBase_zero.cpp
   * Output: \verbinclude MatrixBase_zero.out
   *
-  * \sa Zero(int), Zero(int,int)
+  * \sa Zero(Index), Zero(Index,Index)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Zero()
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero()
 {
   return Constant(Scalar(0));
 }
@@ -380,11 +468,11 @@ MatrixBase<Derived>::Zero()
   * \sa class CwiseNullaryOp, Zero()
   */
 template<typename Derived>
-bool MatrixBase<Derived>::isZero(RealScalar prec) const
+bool DenseBase<Derived>::isZero(RealScalar prec) const
 {
-  for(int j = 0; j < cols(); ++j)
-    for(int i = 0; i < rows(); ++i)
-      if(!ei_isMuchSmallerThan(coeff(i, j), static_cast<Scalar>(1), prec))
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < rows(); ++i)
+      if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<Scalar>(1), prec))
         return false;
   return true;
 }
@@ -397,7 +485,7 @@ bool MatrixBase<Derived>::isZero(RealScalar prec) const
   * \sa class CwiseNullaryOp, Zero()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setZero()
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
 {
   return setConstant(Scalar(0));
 }
@@ -409,11 +497,11 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setZero()
   * Example: \include Matrix_setZero_int.cpp
   * Output: \verbinclude Matrix_setZero_int.out
   *
-  * \sa MatrixBase::setZero(), setZero(int,int), class CwiseNullaryOp, MatrixBase::Zero()
+  * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int size)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index size)
 {
   resize(size);
   return setConstant(Scalar(0));
@@ -427,11 +515,11 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int size)
   * Example: \include Matrix_setZero_int_int.cpp
   * Output: \verbinclude Matrix_setZero_int_int.out
   *
-  * \sa MatrixBase::setZero(), setZero(int), class CwiseNullaryOp, MatrixBase::Zero()
+  * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int rows, int cols)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index rows, Index cols)
 {
   resize(rows, cols);
   return setConstant(Scalar(0));
@@ -448,16 +536,14 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int rows, i
   * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used
   * instead.
   *
-  * \addexample One \label How to get a matrix with all coefficients equal one
-  *
   * Example: \include MatrixBase_ones_int_int.cpp
   * Output: \verbinclude MatrixBase_ones_int_int.out
   *
-  * \sa Ones(), Ones(int), isOnes(), class Ones
+  * \sa Ones(), Ones(Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Ones(int rows, int cols)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index rows, Index cols)
 {
   return Constant(rows, cols, Scalar(1));
 }
@@ -476,11 +562,11 @@ MatrixBase<Derived>::Ones(int rows, int cols)
   * Example: \include MatrixBase_ones_int.cpp
   * Output: \verbinclude MatrixBase_ones_int.out
   *
-  * \sa Ones(), Ones(int,int), isOnes(), class Ones
+  * \sa Ones(), Ones(Index,Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Ones(int size)
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index size)
 {
   return Constant(size, Scalar(1));
 }
@@ -493,11 +579,11 @@ MatrixBase<Derived>::Ones(int size)
   * Example: \include MatrixBase_ones.cpp
   * Output: \verbinclude MatrixBase_ones.out
   *
-  * \sa Ones(int), Ones(int,int), isOnes(), class Ones
+  * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::ConstantReturnType
-MatrixBase<Derived>::Ones()
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones()
 {
   return Constant(Scalar(1));
 }
@@ -511,7 +597,7 @@ MatrixBase<Derived>::Ones()
   * \sa class CwiseNullaryOp, Ones()
   */
 template<typename Derived>
-bool MatrixBase<Derived>::isOnes
+bool DenseBase<Derived>::isOnes
 (RealScalar prec) const
 {
   return isApproxToConstant(Scalar(1), prec);
@@ -525,7 +611,7 @@ bool MatrixBase<Derived>::isOnes
   * \sa class CwiseNullaryOp, Ones()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setOnes()
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
 {
   return setConstant(Scalar(1));
 }
@@ -537,11 +623,11 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setOnes()
   * Example: \include Matrix_setOnes_int.cpp
   * Output: \verbinclude Matrix_setOnes_int.out
   *
-  * \sa MatrixBase::setOnes(), setOnes(int,int), class CwiseNullaryOp, MatrixBase::Ones()
+  * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int size)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index size)
 {
   resize(size);
   return setConstant(Scalar(1));
@@ -555,11 +641,11 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int size)
   * Example: \include Matrix_setOnes_int_int.cpp
   * Output: \verbinclude Matrix_setOnes_int_int.out
   *
-  * \sa MatrixBase::setOnes(), setOnes(int), class CwiseNullaryOp, MatrixBase::Ones()
+  * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int rows, int cols)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
 {
   resize(rows, cols);
   return setConstant(Scalar(1));
@@ -576,8 +662,6 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int rows, i
   * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used
   * instead.
   *
-  * \addexample Identity \label How to get an identity matrix
-  *
   * Example: \include MatrixBase_identity_int_int.cpp
   * Output: \verbinclude MatrixBase_identity_int_int.out
   *
@@ -585,9 +669,9 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int rows, i
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
-MatrixBase<Derived>::Identity(int rows, int cols)
+MatrixBase<Derived>::Identity(Index rows, Index cols)
 {
-  return NullaryExpr(rows, cols, ei_scalar_identity_op<Scalar>());
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
 }
 
 /** \returns an expression of the identity matrix (not necessarily square).
@@ -598,14 +682,14 @@ MatrixBase<Derived>::Identity(int rows, int cols)
   * Example: \include MatrixBase_identity.cpp
   * Output: \verbinclude MatrixBase_identity.out
   *
-  * \sa Identity(int,int), setIdentity(), isIdentity()
+  * \sa Identity(Index,Index), setIdentity(), isIdentity()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
 MatrixBase<Derived>::Identity()
 {
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, ei_scalar_identity_op<Scalar>());
+  return MatrixBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op<Scalar>());
 }
 
 /** \returns true if *this is approximately equal to the identity matrix
@@ -615,24 +699,24 @@ MatrixBase<Derived>::Identity()
   * Example: \include MatrixBase_isIdentity.cpp
   * Output: \verbinclude MatrixBase_isIdentity.out
   *
-  * \sa class CwiseNullaryOp, Identity(), Identity(int,int), setIdentity()
+  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity()
   */
 template<typename Derived>
 bool MatrixBase<Derived>::isIdentity
 (RealScalar prec) const
 {
-  for(int j = 0; j < cols(); ++j)
+  for(Index j = 0; j < cols(); ++j)
   {
-    for(int i = 0; i < rows(); ++i)
+    for(Index i = 0; i < rows(); ++i)
     {
       if(i == j)
       {
-        if(!ei_isApprox(coeff(i, j), static_cast<Scalar>(1), prec))
+        if(!internal::isApprox(this->coeff(i, j), static_cast<Scalar>(1), prec))
           return false;
       }
       else
       {
-        if(!ei_isMuchSmallerThan(coeff(i, j), static_cast<RealScalar>(1), prec))
+        if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<RealScalar>(1), prec))
           return false;
       }
     }
@@ -640,8 +724,10 @@ bool MatrixBase<Derived>::isIdentity
   return true;
 }
 
+namespace internal {
+
 template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
-struct ei_setIdentity_impl
+struct setIdentity_impl
 {
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
@@ -650,31 +736,34 @@ struct ei_setIdentity_impl
 };
 
 template<typename Derived>
-struct ei_setIdentity_impl<Derived, true>
+struct setIdentity_impl<Derived, true>
 {
+  typedef typename Derived::Index Index;
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
     m.setZero();
-    const int size = std::min(m.rows(), m.cols());
-    for(int i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
+    const Index size = (std::min)(m.rows(), m.cols());
+    for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
     return m;
   }
 };
 
+} // end namespace internal
+
 /** Writes the identity expression (not necessarily square) into *this.
   *
   * Example: \include MatrixBase_setIdentity.cpp
   * Output: \verbinclude MatrixBase_setIdentity.out
   *
-  * \sa class CwiseNullaryOp, Identity(), Identity(int,int), isIdentity()
+  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
 {
-  return ei_setIdentity_impl<Derived>::run(derived());
+  return internal::setIdentity_impl<Derived>::run(derived());
 }
 
-/** Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
+/** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
   *
   * \param rows the new number of rows
   * \param cols the new number of columns
@@ -684,11 +773,10 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
   *
   * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setIdentity(int rows, int cols)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
 {
-  resize(rows, cols);
+  derived().resize(rows, cols);
   return setIdentity();
 }
 
@@ -696,10 +784,10 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setIdentity(int row
   *
   * \only_for_vectors
   *
-  * \sa MatrixBase::Unit(int), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(int size, int i)
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index size, Index i)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return BasisReturnType(SquareMatrixType::Identity(size,size), i);
@@ -711,10 +799,10 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   *
   * This variant is for fixed-size vector only.
   *
-  * \sa MatrixBase::Unit(int,int), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(int i)
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return BasisReturnType(SquareMatrixType::Identity(),i);
@@ -724,7 +812,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   *
   * \only_for_vectors
   *
-  * \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
@@ -734,7 +822,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   *
   * \only_for_vectors
   *
-  * \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
@@ -744,7 +832,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   *
   * \only_for_vectors
   *
-  * \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
@@ -754,7 +842,7 @@ EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBa
   *
   * \only_for_vectors
   *
-  * \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
diff --git a/extern/Eigen3/Eigen/src/Core/CwiseUnaryOp.h b/extern/Eigen3/Eigen/src/Core/CwiseUnaryOp.h
new file mode 100644
index 00000000000..958571d64bf
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/CwiseUnaryOp.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_UNARY_OP_H
+#define EIGEN_CWISE_UNARY_OP_H
+
+/** \class CwiseUnaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
+  *
+  * \param UnaryOp template functor implementing the operator
+  * \param XprType the type of the expression to which we are applying the unary operator
+  *
+  * This class represents an expression where a unary operator is applied to an expression.
+  * It is the return type of all operations taking exactly 1 input expression, regardless of the
+  * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
+  * is considered unary, because only the right-hand side is an expression, and its
+  * return type is a specialization of CwiseUnaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseUnaryOp types explicitly.
+  *
+  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
+  */
+
+namespace internal {
+template<typename UnaryOp, typename XprType>
+struct traits<CwiseUnaryOp<UnaryOp, XprType> >
+ : traits<XprType>
+{
+  typedef typename result_of<
+                     UnaryOp(typename XprType::Scalar)
+                   >::type Scalar;
+  typedef typename XprType::Nested XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum {
+    Flags = _XprTypeNested::Flags & (
+      HereditaryBits | LinearAccessBit | AlignedBit
+      | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
+    CoeffReadCost = _XprTypeNested::CoeffReadCost + functor_traits<UnaryOp>::Cost
+  };
+};
+}
+
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl;
+
+template<typename UnaryOp, typename XprType>
+class CwiseUnaryOp : internal::no_assignment_operator,
+  public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>
+{
+  public:
+
+    typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
+
+    inline CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
+      : m_xpr(xpr), m_functor(func) {}
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_xpr.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_xpr.cols(); }
+
+    /** \returns the functor representing the unary operation */
+    const UnaryOp& functor() const { return m_functor; }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename XprType::Nested>::type&
+    nestedExpression() const { return m_xpr; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename XprType::Nested>::type&
+    nestedExpression() { return m_xpr.const_cast_derived(); }
+
+  protected:
+    const typename XprType::Nested m_xpr;
+    const UnaryOp m_functor;
+};
+
+// This is the generic implementation for dense storage.
+// It can be used for any expression types implementing the dense concept.
+template<typename UnaryOp, typename XprType>
+class CwiseUnaryOpImpl<UnaryOp,XprType,Dense>
+  : public internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
+{
+  public:
+
+    typedef CwiseUnaryOp<UnaryOp, XprType> Derived;
+    typedef typename internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(row, col));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(row, col));
+    }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(index));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(index));
+    }
+};
+
+#endif // EIGEN_CWISE_UNARY_OP_H
diff --git a/extern/Eigen3/Eigen/src/Core/CwiseUnaryView.h b/extern/Eigen3/Eigen/src/Core/CwiseUnaryView.h
new file mode 100644
index 00000000000..d24ef037314
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/CwiseUnaryView.h
@@ -0,0 +1,148 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_UNARY_VIEW_H
+#define EIGEN_CWISE_UNARY_VIEW_H
+
+/** \class CwiseUnaryView
+  * \ingroup Core_Module
+  *
+  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
+  *
+  * \param ViewOp template functor implementing the view
+  * \param MatrixType the type of the matrix we are applying the unary operator
+  *
+  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
+  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
+  */
+
+namespace internal {
+template<typename ViewOp, typename MatrixType>
+struct traits<CwiseUnaryView<ViewOp, MatrixType> >
+ : traits<MatrixType>
+{
+  typedef typename result_of<
+                     ViewOp(typename traits<MatrixType>::Scalar)
+                   >::type Scalar;
+  typedef typename MatrixType::Nested MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    Flags = (traits<_MatrixTypeNested>::Flags & (HereditaryBits | LvalueBit | LinearAccessBit | DirectAccessBit)),
+    CoeffReadCost = traits<_MatrixTypeNested>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+    MatrixTypeInnerStride =  inner_stride_at_compile_time<MatrixType>::ret,
+    // need to cast the sizeof's from size_t to int explicitly, otherwise:
+    // "error: no integral type can represent all of the enumerator values
+    InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic
+                             ? int(Dynamic)
+                             : int(MatrixTypeInnerStride)
+                               * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar)),
+    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
+  };
+};
+}
+
+template<typename ViewOp, typename MatrixType, typename StorageKind>
+class CwiseUnaryViewImpl;
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryView : internal::no_assignment_operator,
+  public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
+{
+  public:
+
+    typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
+
+    inline CwiseUnaryView(const MatrixType& mat, const ViewOp& func = ViewOp())
+      : m_matrix(mat), m_functor(func) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
+
+    /** \returns the functor representing unary operation */
+    const ViewOp& functor() const { return m_functor; }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() const { return m_matrix; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() { return m_matrix.const_cast_derived(); }
+
+  protected:
+    // FIXME changed from MatrixType::Nested because of a weird compilation error with sun CC
+    const typename internal::nested<MatrixType>::type m_matrix;
+    ViewOp m_functor;
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
+  : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
+{
+  public:
+
+    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
+    typedef typename internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type Base;
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+    inline Index innerStride() const
+    {
+      return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
+    }
+
+    inline Index outerStride() const
+    {
+      return derived().nestedExpression().outerStride();
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(row, col));
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(index));
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(row, col));
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
+    {
+      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(index));
+    }
+};
+
+
+
+#endif // EIGEN_CWISE_UNARY_VIEW_H
diff --git a/extern/Eigen3/Eigen/src/Core/DenseBase.h b/extern/Eigen3/Eigen/src/Core/DenseBase.h
new file mode 100644
index 00000000000..838fa40307a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/DenseBase.h
@@ -0,0 +1,543 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSEBASE_H
+#define EIGEN_DENSEBASE_H
+
+/** \class DenseBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all dense matrices, vectors, and arrays
+  *
+  * This class is the base that is inherited by all dense objects (matrix, vector, arrays,
+  * and related expression types). The common Eigen API for dense objects is contained in this class.
+  *
+  * \tparam Derived is the derived type, e.g., a matrix type or an expression.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> class DenseBase
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  : public internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                                     typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>
+#else
+  : public DenseCoeffsBase<Derived>
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+{
+  public:
+    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
+
+    class InnerIterator;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+
+    /** \brief The type of indices 
+      * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+      * \sa \ref TopicPreprocessorDirectives.
+      */
+    typedef typename internal::traits<Derived>::Index Index; 
+
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseCoeffsBase<Derived> Base;
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::rowIndexByOuterInner;
+    using Base::colIndexByOuterInner;
+    using Base::coeff;
+    using Base::coeffByOuterInner;
+    using Base::packet;
+    using Base::packetByOuterInner;
+    using Base::writePacket;
+    using Base::writePacketByOuterInner;
+    using Base::coeffRef;
+    using Base::coeffRefByOuterInner;
+    using Base::copyCoeff;
+    using Base::copyCoeffByOuterInner;
+    using Base::copyPacket;
+    using Base::copyPacketByOuterInner;
+    using Base::operator();
+    using Base::operator[];
+    using Base::x;
+    using Base::y;
+    using Base::z;
+    using Base::w;
+    using Base::stride;
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+    enum {
+
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+        /**< The number of rows at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
+
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+        /**< The number of columns at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
+
+
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
+        /**< This is equal to the number of coefficients, i.e. the number of
+          * rows times the number of columns, or to \a Dynamic if this is not
+          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+        /**< This value is equal to the maximum possible number of rows that this expression
+          * might have. If this expression might have an arbitrarily high number of rows,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
+          */
+
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+        /**< This value is equal to the maximum possible number of columns that this expression
+          * might have. If this expression might have an arbitrarily high number of columns,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
+          */
+
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                      internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+        /**< This value is equal to the maximum possible number of coefficients that this expression
+          * might have. If this expression might have an arbitrarily high number of coefficients,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
+          */
+
+      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+                           || internal::traits<Derived>::MaxColsAtCompileTime == 1,
+        /**< This is set to true if either the number of rows or the number of
+          * columns is known at compile-time to be equal to 1. Indeed, in that case,
+          * we are dealing with a column-vector (if there is only one column) or with
+          * a row-vector (if there is only one row). */
+
+      Flags = internal::traits<Derived>::Flags,
+        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
+          * constructed from this one. See the \ref flags "list of flags".
+          */
+
+      IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
+
+      InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? SizeAtCompileTime
+                             : int(IsRowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
+
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+        /**< This is a rough measure of how expensive it is to read one coefficient from
+          * this expression.
+          */
+
+      InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
+      OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
+    };
+
+    enum { ThisConstantIsPrivateInPlainObjectBase };
+
+    /** \returns the number of nonzero coefficients which is in practice the number
+      * of stored coefficients. */
+    inline Index nonZeros() const { return size(); }
+    /** \returns true if either the number of rows or the number of columns is equal to 1.
+      * In other words, this function returns
+      * \code rows()==1 || cols()==1 \endcode
+      * \sa rows(), cols(), IsVectorAtCompileTime. */
+
+    /** \returns the outer size.
+      *
+      * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
+      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
+      * column-major matrix, and the number of rows for a row-major matrix. */
+    Index outerSize() const
+    {
+      return IsVectorAtCompileTime ? 1
+           : int(IsRowMajor) ? this->rows() : this->cols();
+    }
+
+    /** \returns the inner size.
+      *
+      * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
+      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a 
+      * column-major matrix, and the number of columns for a row-major matrix. */
+    Index innerSize() const
+    {
+      return IsVectorAtCompileTime ? this->size()
+           : int(IsRowMajor) ? this->cols() : this->rows();
+    }
+
+    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(Index size)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(size);
+      eigen_assert(size == this->size()
+                && "DenseBase::resize() does not actually allow to resize.");
+    }
+    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
+                && "DenseBase::resize() does not actually allow to resize.");
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    /** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
+    /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
+    /** \internal the return type of MatrixBase::eigenvalues() */
+    typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** Copies \a other into *this. \returns a reference to *this. */
+    template<typename OtherDerived>
+    Derived& operator=(const DenseBase<OtherDerived>& other);
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const DenseBase& other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator+=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator-=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& func);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Copies \a other into *this without evaluating other. \returns a reference to *this. */
+    template<typename OtherDerived>
+    Derived& lazyAssign(const DenseBase<OtherDerived>& other);
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    CommaInitializer<Derived> operator<< (const Scalar& s);
+
+    template<unsigned int Added,unsigned int Removed>
+    const Flagged<Derived, Added, Removed> flagged() const;
+
+    template<typename OtherDerived>
+    CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
+
+    Eigen::Transpose<Derived> transpose();
+    typedef const Transpose<const Derived> ConstTransposeReturnType;
+    ConstTransposeReturnType transpose() const;
+    void transposeInPlace();
+#ifndef EIGEN_NO_DEBUG
+  protected:
+    template<typename OtherDerived>
+    void checkTransposeAliasing(const OtherDerived& other) const;
+  public:
+#endif
+
+    typedef VectorBlock<Derived> SegmentReturnType;
+    typedef const VectorBlock<const Derived> ConstSegmentReturnType;
+    template<int Size> struct FixedSegmentReturnType { typedef VectorBlock<Derived, Size> Type; };
+    template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBlock<const Derived, Size> Type; };
+    
+    // Note: The "DenseBase::" prefixes are added to help MSVC9 to match these declarations with the later implementations.
+    SegmentReturnType segment(Index start, Index size);
+    typename DenseBase::ConstSegmentReturnType segment(Index start, Index size) const;
+
+    SegmentReturnType head(Index size);
+    typename DenseBase::ConstSegmentReturnType head(Index size) const;
+
+    SegmentReturnType tail(Index size);
+    typename DenseBase::ConstSegmentReturnType tail(Index size) const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type head();
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type head() const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type tail();
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type tail() const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type segment(Index start);
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type segment(Index start) const;
+
+    static const ConstantReturnType
+    Constant(Index rows, Index cols, const Scalar& value);
+    static const ConstantReturnType
+    Constant(Index size, const Scalar& value);
+    static const ConstantReturnType
+    Constant(const Scalar& value);
+
+    static const SequentialLinSpacedReturnType
+    LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
+    static const RandomAccessLinSpacedReturnType
+    LinSpaced(Index size, const Scalar& low, const Scalar& high);
+    static const SequentialLinSpacedReturnType
+    LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
+    static const RandomAccessLinSpacedReturnType
+    LinSpaced(const Scalar& low, const Scalar& high);
+
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(Index size, const CustomNullaryOp& func);
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(const CustomNullaryOp& func);
+
+    static const ConstantReturnType Zero(Index rows, Index cols);
+    static const ConstantReturnType Zero(Index size);
+    static const ConstantReturnType Zero();
+    static const ConstantReturnType Ones(Index rows, Index cols);
+    static const ConstantReturnType Ones(Index size);
+    static const ConstantReturnType Ones();
+
+    void fill(const Scalar& value);
+    Derived& setConstant(const Scalar& value);
+    Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
+    Derived& setLinSpaced(const Scalar& low, const Scalar& high);
+    Derived& setZero();
+    Derived& setOnes();
+    Derived& setRandom();
+
+    template<typename OtherDerived>
+    bool isApprox(const DenseBase<OtherDerived>& other,
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isMuchSmallerThan(const RealScalar& other,
+                           RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    template<typename OtherDerived>
+    bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
+                           RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    bool isApproxToConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isZero(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isOnes(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    inline Derived& operator*=(const Scalar& other);
+    inline Derived& operator/=(const Scalar& other);
+
+    /** \returns the matrix or vector obtained by evaluating this expression.
+      *
+      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
+      * a const reference, in order to avoid a useless copy.
+      */
+    EIGEN_STRONG_INLINE const typename internal::eval<Derived>::type eval() const
+    {
+      // Even though MSVC does not honor strong inlining when the return type
+      // is a dynamic matrix, we desperately need strong inlining for fixed
+      // size types on MSVC.
+      return typename internal::eval<Derived>::type(derived());
+    }
+
+    /** swaps *this with the expression \a other.
+      *
+      */
+    template<typename OtherDerived>
+    void swap(const DenseBase<OtherDerived>& other,
+              int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
+    {
+      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+    }
+
+    /** swaps *this with the matrix or array \a other.
+      *
+      */
+    template<typename OtherDerived>
+    void swap(PlainObjectBase<OtherDerived>& other)
+    {
+      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+    }
+
+
+    inline const NestByValue<Derived> nestByValue() const;
+    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
+    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+
+    Scalar sum() const;
+    Scalar mean() const;
+    Scalar trace() const;
+
+    Scalar prod() const;
+
+    typename internal::traits<Derived>::Scalar minCoeff() const;
+    typename internal::traits<Derived>::Scalar maxCoeff() const;
+
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
+
+    template<typename BinaryOp>
+    typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
+    redux(const BinaryOp& func) const;
+
+    template<typename Visitor>
+    void visit(Visitor& func) const;
+
+    inline const WithFormat<Derived> format(const IOFormat& fmt) const;
+
+    /** \returns the unique coefficient of a 1x1 expression */
+    CoeffReturnType value() const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(0,0);
+    }
+
+/////////// Array module ///////////
+
+    bool all(void) const;
+    bool any(void) const;
+    Index count() const;
+
+    typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
+    typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
+    typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
+    typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
+
+    ConstRowwiseReturnType rowwise() const;
+    RowwiseReturnType rowwise();
+    ConstColwiseReturnType colwise() const;
+    ColwiseReturnType colwise();
+
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
+
+    template<typename ThenDerived,typename ElseDerived>
+    const Select<Derived,ThenDerived,ElseDerived>
+    select(const DenseBase<ThenDerived>& thenMatrix,
+           const DenseBase<ElseDerived>& elseMatrix) const;
+
+    template<typename ThenDerived>
+    inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+    select(const DenseBase<ThenDerived>& thenMatrix, typename ThenDerived::Scalar elseScalar) const;
+
+    template<typename ElseDerived>
+    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+    select(typename ElseDerived::Scalar thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
+
+    template<int p> RealScalar lpNorm() const;
+
+    template<int RowFactor, int ColFactor>
+    const Replicate<Derived,RowFactor,ColFactor> replicate() const;
+    const Replicate<Derived,Dynamic,Dynamic> replicate(Index rowFacor,Index colFactor) const;
+
+    typedef Reverse<Derived, BothDirections> ReverseReturnType;
+    typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
+    ReverseReturnType reverse();
+    ConstReverseReturnType reverse() const;
+    void reverseInPlace();
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
+#   include "../plugins/BlockMethods.h"
+#   ifdef EIGEN_DENSEBASE_PLUGIN
+#     include EIGEN_DENSEBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+#ifdef EIGEN2_SUPPORT
+
+    Block<Derived> corner(CornerType type, Index cRows, Index cCols);
+    const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
+    template<int CRows, int CCols>
+    Block<Derived, CRows, CCols> corner(CornerType type);
+    template<int CRows, int CCols>
+    const Block<Derived, CRows, CCols> corner(CornerType type) const;
+
+#endif // EIGEN2_SUPPORT
+
+
+    // disable the use of evalTo for dense objects with a nice compilation error
+    template<typename Dest> inline void evalTo(Dest& ) const
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
+    }
+
+  protected:
+    /** Default constructor. Do nothing. */
+    DenseBase()
+    {
+      /* Just checks for self-consistency of the flags.
+       * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
+       */
+#ifdef EIGEN_INTERNAL_DEBUGGING
+      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
+                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
+                          INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
+#endif
+    }
+
+  private:
+    explicit DenseBase(int);
+    DenseBase(int,int);
+    template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
+};
+
+#endif // EIGEN_DENSEBASE_H
diff --git a/extern/Eigen3/Eigen/src/Core/DenseCoeffsBase.h b/extern/Eigen3/Eigen/src/Core/DenseCoeffsBase.h
new file mode 100644
index 00000000000..e45238fb584
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/DenseCoeffsBase.h
@@ -0,0 +1,765 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSECOEFFSBASE_H
+#define EIGEN_DENSECOEFFSBASE_H
+
+namespace internal {
+template<typename T> struct add_const_on_value_type_if_arithmetic
+{
+  typedef typename conditional<is_arithmetic<T>::value, T, typename add_const_on_value_type<T>::type>::type type;
+};
+}
+
+/** \brief Base class providing read-only coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam #ReadOnlyAccessors Constant indicating read-only access
+  *
+  * This class defines the \c operator() \c const function and friends, which can be used to read specific
+  * entries of a matrix or array.
+  * 
+  * \sa DenseCoeffsBase<Derived, WriteAccessors>, DenseCoeffsBase<Derived, DirectAccessors>,
+  *     \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
+{
+  public:
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+
+    // Explanation for this CoeffReturnType typedef.
+    // - This is the return type of the coeff() method.
+    // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references
+    // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value).
+    // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems
+    // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is
+    // not possible, since the underlying expressions might not offer a valid address the reference could be referring to.
+    typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
+                         const Scalar&,
+                         typename internal::conditional<internal::is_arithmetic<Scalar>::value, Scalar, const Scalar>::type
+                     >::type CoeffReturnType;
+
+    typedef typename internal::add_const_on_value_type_if_arithmetic<
+                         typename internal::packet_traits<Scalar>::type
+                     >::type PacketReturnType;
+
+    typedef EigenBase<Derived> Base;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
+    {
+      return int(Derived::RowsAtCompileTime) == 1 ? 0
+          : int(Derived::ColsAtCompileTime) == 1 ? inner
+          : int(Derived::Flags)&RowMajorBit ? outer
+          : inner;
+    }
+
+    EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
+    {
+      return int(Derived::ColsAtCompileTime) == 1 ? 0
+          : int(Derived::RowsAtCompileTime) == 1 ? inner
+          : int(Derived::Flags)&RowMajorBit ? inner
+          : outer;
+    }
+
+    /** Short version: don't use this function, use
+      * \link operator()(Index,Index) const \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator()(Index,Index) const \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator()(Index,Index) const \endlink.
+      *
+      * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
+      */
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      return derived().coeff(row, col);
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+    {
+      return coeff(rowIndexByOuterInner(outer, inner),
+                   colIndexByOuterInner(outer, inner));
+    }
+
+    /** \returns the coefficient at given the given row and column.
+      *
+      * \sa operator()(Index,Index), operator[](Index)
+      */
+    EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
+    {
+      eigen_assert(row >= 0 && row < rows()
+          && col >= 0 && col < cols());
+      return derived().coeff(row, col);
+    }
+
+    /** Short version: don't use this function, use
+      * \link operator[](Index) const \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator[](Index) const \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameter \a index is in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator[](Index) const \endlink.
+      *
+      * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    coeff(Index index) const
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+
+    /** \returns the coefficient at given index.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+      * z() const, w() const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    operator[](Index index) const
+    {
+      #ifndef EIGEN2_SUPPORT
+      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+      #endif
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+    /** \returns the coefficient at given index.
+      *
+      * This is synonymous to operator[](Index) const.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+      * z() const, w() const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    operator()(Index index) const
+    {
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+    /** equivalent to operator[](0).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    x() const { return (*this)[0]; }
+
+    /** equivalent to operator[](1).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    y() const { return (*this)[1]; }
+
+    /** equivalent to operator[](2).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    z() const { return (*this)[2]; }
+
+    /** equivalent to operator[](3).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    w() const { return (*this)[3]; }
+
+    /** \internal
+      * \returns the packet of coefficients starting at the given row and column. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                      && col >= 0 && col < cols());
+      return derived().template packet<LoadMode>(row,col);
+    }
+
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const
+    {
+      return packet<LoadMode>(rowIndexByOuterInner(outer, inner),
+                              colIndexByOuterInner(outer, inner));
+    }
+
+    /** \internal
+      * \returns the packet of coefficients starting at the given index. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit and the LinearAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().template packet<LoadMode>(index);
+    }
+
+  protected:
+    // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase.
+    // But some methods are only available in the DirectAccess case.
+    // So we add dummy methods here with these names, so that "using... " doesn't fail.
+    // It's not private so that the child class DenseBase can access them, and it's not public
+    // either since it's an implementation detail, so has to be protected.
+    void coeffRef();
+    void coeffRefByOuterInner();
+    void writePacket();
+    void writePacketByOuterInner();
+    void copyCoeff();
+    void copyCoeffByOuterInner();
+    void copyPacket();
+    void copyPacketByOuterInner();
+    void stride();
+    void innerStride();
+    void outerStride();
+    void rowStride();
+    void colStride();
+};
+
+/** \brief Base class providing read/write coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam #WriteAccessors Constant indicating read/write access
+  *
+  * This class defines the non-const \c operator() function and friends, which can be used to write specific
+  * entries of a matrix or array. This class inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which
+  * defines the const variant for reading specific entries.
+  * 
+  * \sa DenseCoeffsBase<Derived, DirectAccessors>, \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::coeff;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+    using Base::rowIndexByOuterInner;
+    using Base::colIndexByOuterInner;
+    using Base::operator[];
+    using Base::operator();
+    using Base::x;
+    using Base::y;
+    using Base::z;
+    using Base::w;
+
+    /** Short version: don't use this function, use
+      * \link operator()(Index,Index) \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator()(Index,Index) \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator()(Index,Index) \endlink.
+      *
+      * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
+      */
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      return derived().coeffRef(row, col);
+    }
+
+    EIGEN_STRONG_INLINE Scalar&
+    coeffRefByOuterInner(Index outer, Index inner)
+    {
+      return coeffRef(rowIndexByOuterInner(outer, inner),
+                      colIndexByOuterInner(outer, inner));
+    }
+
+    /** \returns a reference to the coefficient at given the given row and column.
+      *
+      * \sa operator[](Index)
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator()(Index row, Index col)
+    {
+      eigen_assert(row >= 0 && row < rows()
+          && col >= 0 && col < cols());
+      return derived().coeffRef(row, col);
+    }
+
+
+    /** Short version: don't use this function, use
+      * \link operator[](Index) \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator[](Index) \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator[](Index) \endlink.
+      *
+      * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    coeffRef(Index index)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** \returns a reference to the coefficient at given index.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator[](Index index)
+    {
+      #ifndef EIGEN2_SUPPORT
+      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+      #endif
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** \returns a reference to the coefficient at given index.
+      *
+      * This is synonymous to operator[](Index).
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator()(Index index)
+    {
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** equivalent to operator[](0).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    x() { return (*this)[0]; }
+
+    /** equivalent to operator[](1).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    y() { return (*this)[1]; }
+
+    /** equivalent to operator[](2).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    z() { return (*this)[2]; }
+
+    /** equivalent to operator[](3).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    w() { return (*this)[3]; }
+
+    /** \internal
+      * Stores the given packet of coefficients, at the given row and column of this expression. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket
+    (Index row, Index col, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().template writePacket<StoreMode>(row,col,x);
+    }
+
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacketByOuterInner
+    (Index outer, Index inner, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      writePacket<StoreMode>(rowIndexByOuterInner(outer, inner),
+                            colIndexByOuterInner(outer, inner),
+                            x);
+    }
+
+    /** \internal
+      * Stores the given packet of coefficients, at the given index in this expression. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit and the LinearAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket
+    (Index index, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().template writePacket<StoreMode>(index,x);
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    /** \internal Copies the coefficient at position (row,col) of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().coeffRef(row, col) = other.derived().coeff(row, col);
+    }
+
+    /** \internal Copies the coefficient at the given index of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().coeffRef(index) = other.derived().coeff(index);
+    }
+
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeffByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
+    {
+      const Index row = rowIndexByOuterInner(outer,inner);
+      const Index col = colIndexByOuterInner(outer,inner);
+      // derived() is important here: copyCoeff() may be reimplemented in Derived!
+      derived().copyCoeff(row, col, other);
+    }
+
+    /** \internal Copies the packet at position (row,col) of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().template writePacket<StoreMode>(row, col,
+        other.derived().template packet<LoadMode>(row, col));
+    }
+
+    /** \internal Copies the packet at the given index of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacket(Index index, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().template writePacket<StoreMode>(index,
+        other.derived().template packet<LoadMode>(index));
+    }
+
+    /** \internal */
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacketByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
+    {
+      const Index row = rowIndexByOuterInner(outer,inner);
+      const Index col = colIndexByOuterInner(outer,inner);
+      // derived() is important here: copyCoeff() may be reimplemented in Derived!
+      derived().template copyPacket< OtherDerived, StoreMode, LoadMode>(row, col, other);
+    }
+#endif
+
+};
+
+/** \brief Base class providing direct read-only coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam #DirectAccessors Constant indicating direct access
+  *
+  * This class defines functions to work with strides which can be used to access entries directly. This class
+  * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
+  * \c operator() .
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+      *
+      * \sa outerStride(), rowStride(), colStride()
+      */
+    inline Index innerStride() const
+    {
+      return derived().innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+      *          in a column-major matrix).
+      *
+      * \sa innerStride(), rowStride(), colStride()
+      */
+    inline Index outerStride() const
+    {
+      return derived().outerStride();
+    }
+
+    // FIXME shall we remove it ?
+    inline Index stride() const
+    {
+      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive rows.
+      *
+      * \sa innerStride(), outerStride(), colStride()
+      */
+    inline Index rowStride() const
+    {
+      return Derived::IsRowMajor ? outerStride() : innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive columns.
+      *
+      * \sa innerStride(), outerStride(), rowStride()
+      */
+    inline Index colStride() const
+    {
+      return Derived::IsRowMajor ? innerStride() : outerStride();
+    }
+};
+
+/** \brief Base class providing direct read/write coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam #DirectWriteAccessors Constant indicating direct access
+  *
+  * This class defines functions to work with strides which can be used to access entries directly. This class
+  * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
+  * \c operator().
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectWriteAccessors>
+  : public DenseCoeffsBase<Derived, WriteAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+      *
+      * \sa outerStride(), rowStride(), colStride()
+      */
+    inline Index innerStride() const
+    {
+      return derived().innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+      *          in a column-major matrix).
+      *
+      * \sa innerStride(), rowStride(), colStride()
+      */
+    inline Index outerStride() const
+    {
+      return derived().outerStride();
+    }
+
+    // FIXME shall we remove it ?
+    inline Index stride() const
+    {
+      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive rows.
+      *
+      * \sa innerStride(), outerStride(), colStride()
+      */
+    inline Index rowStride() const
+    {
+      return Derived::IsRowMajor ? outerStride() : innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive columns.
+      *
+      * \sa innerStride(), outerStride(), rowStride()
+      */
+    inline Index colStride() const
+    {
+      return Derived::IsRowMajor ? innerStride() : outerStride();
+    }
+};
+
+namespace internal {
+
+template<typename Derived, bool JustReturnZero>
+struct first_aligned_impl
+{
+  inline static typename Derived::Index run(const Derived&)
+  { return 0; }
+};
+
+template<typename Derived>
+struct first_aligned_impl<Derived, false>
+{
+  inline static typename Derived::Index run(const Derived& m)
+  {
+    return first_aligned(&m.const_cast_derived().coeffRef(0,0), m.size());
+  }
+};
+
+/** \internal \returns the index of the first element of the array that is well aligned for vectorization.
+  *
+  * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
+  * documentation.
+  */
+template<typename Derived>
+inline static typename Derived::Index first_aligned(const Derived& m)
+{
+  return first_aligned_impl
+          <Derived, (Derived::Flags & AlignedBit) || !(Derived::Flags & DirectAccessBit)>
+          ::run(m);
+}
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct inner_stride_at_compile_time
+{
+  enum { ret = traits<Derived>::InnerStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct inner_stride_at_compile_time<Derived, false>
+{
+  enum { ret = 0 };
+};
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct outer_stride_at_compile_time
+{
+  enum { ret = traits<Derived>::OuterStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct outer_stride_at_compile_time<Derived, false>
+{
+  enum { ret = 0 };
+};
+
+} // end namespace internal
+
+#endif // EIGEN_DENSECOEFFSBASE_H
diff --git a/extern/Eigen3/Eigen/src/Core/DenseStorage.h b/extern/Eigen3/Eigen/src/Core/DenseStorage.h
new file mode 100644
index 00000000000..813053b00dd
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/DenseStorage.h
@@ -0,0 +1,304 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXSTORAGE_H
+#define EIGEN_MATRIXSTORAGE_H
+
+#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
+#else
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+#endif
+
+namespace internal {
+
+struct constructor_without_unaligned_array_assert {};
+
+/** \internal
+  * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned:
+  * to 16 bytes boundary if the total size is a multiple of 16 bytes.
+  */
+template <typename T, int Size, int MatrixOrArrayOptions,
+          int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
+                        : (((Size*sizeof(T))%16)==0) ? 16
+                        : 0 >
+struct plain_array
+{
+  T array[Size];
+  plain_array() {}
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+#ifdef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask)
+#else
+  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
+    eigen_assert((reinterpret_cast<size_t>(array) & sizemask) == 0 \
+              && "this assertion is explained here: " \
+              "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" \
+              " **** READ THIS WEB PAGE !!! ****");
+#endif
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 16>
+{
+  EIGEN_USER_ALIGN16 T array[Size];
+  plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(0xf) }
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+template <typename T, int MatrixOrArrayOptions, int Alignment>
+struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
+{
+  EIGEN_USER_ALIGN16 T array[1];
+  plain_array() {}
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+} // end namespace internal
+
+/** \internal
+  *
+  * \class DenseStorage
+  * \ingroup Core_Module
+  *
+  * \brief Stores the data of a matrix
+  *
+  * This class stores the data of fixed-size, dynamic-size or mixed matrices
+  * in a way as compact as possible.
+  *
+  * \sa Matrix
+  */
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage;
+
+// purely fixed-size matrix
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage
+{
+    internal::plain_array<T,Size,_Options> m_data;
+  public:
+    inline explicit DenseStorage() {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()) {}
+    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// null matrix
+template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
+{
+  public:
+    inline explicit DenseStorage() {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) {}
+    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void swap(DenseStorage& ) {}
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline const T *data() const { return 0; }
+    inline T *data() { return 0; }
+};
+
+// dynamic-size matrix with fixed-size storage
+template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_rows;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_rows(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex rows, DenseIndex cols) : m_rows(rows), m_cols(cols) {}
+    inline void swap(DenseStorage& other)
+    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex rows, DenseIndex cols) { m_rows = rows; m_cols = cols; }
+    inline void resize(DenseIndex, DenseIndex rows, DenseIndex cols) { m_rows = rows; m_cols = cols; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed width
+template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_rows;
+  public:
+    inline explicit DenseStorage() : m_rows(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex rows, DenseIndex) : m_rows(rows) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return _Cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex rows, DenseIndex) { m_rows = rows; }
+    inline void resize(DenseIndex, DenseIndex rows, DenseIndex) { m_rows = rows; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed height
+template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex, DenseIndex cols) : m_cols(cols) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return _Rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex, DenseIndex cols) { m_cols = cols; }
+    inline void resize(DenseIndex, DenseIndex, DenseIndex cols) { m_cols = cols; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// purely dynamic matrix.
+template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
+{
+    T *m_data;
+    DenseIndex m_rows;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+       : m_data(0), m_rows(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex rows, DenseIndex cols)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols) 
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
+    inline void swap(DenseStorage& other)
+    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex rows, DenseIndex cols)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
+      m_rows = rows;
+      m_cols = cols;
+    }
+    void resize(DenseIndex size, DenseIndex rows, DenseIndex cols)
+    {
+      if(size != m_rows*m_cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_rows = rows;
+      m_cols = cols;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+// matrix with dynamic width and fixed height (so that matrix has dynamic size).
+template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
+{
+    T *m_data;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex, DenseIndex cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex, DenseIndex cols)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
+      m_cols = cols;
+    }
+    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex, DenseIndex cols)
+    {
+      if(size != _Rows*m_cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_cols = cols;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+// matrix with dynamic height and fixed width (so that matrix has dynamic size).
+template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
+{
+    T *m_data;
+    DenseIndex m_rows;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_rows(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex rows, DenseIndex) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex rows, DenseIndex)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
+      m_rows = rows;
+    }
+    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex rows, DenseIndex)
+    {
+      if(size != m_rows*_Cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_rows = rows;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+#endif // EIGEN_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/Diagonal.h b/extern/Eigen3/Eigen/src/Core/Diagonal.h
new file mode 100644
index 00000000000..61d3b063a44
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Diagonal.h
@@ -0,0 +1,227 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONAL_H
+#define EIGEN_DIAGONAL_H
+
+/** \class Diagonal
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix
+  *
+  * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal
+  * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal.
+  *              A positive value means a superdiagonal, a negative value means a subdiagonal.
+  *              You can also use Dynamic so the index can be set at runtime.
+  *
+  * The matrix is not required to be square.
+  *
+  * This class represents an expression of the main diagonal, or any sub/super diagonal
+  * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the
+  * time this is the only way it is used.
+  *
+  * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index)
+  */
+
+namespace internal {
+template<typename MatrixType, int DiagIndex>
+struct traits<Diagonal<MatrixType,DiagIndex> >
+ : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef typename MatrixType::StorageKind StorageKind;
+  enum {
+    AbsDiagIndex = DiagIndex<0 ? -DiagIndex : DiagIndex, // only used if DiagIndex != Dynamic
+    // FIXME these computations are broken in the case where the matrix is rectangular and DiagIndex!=0
+    RowsAtCompileTime = (int(DiagIndex) == Dynamic || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic
+                      : (EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime,
+                                        MatrixType::ColsAtCompileTime) - AbsDiagIndex),
+    ColsAtCompileTime = 1,
+    MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
+                         : DiagIndex == Dynamic ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime,
+                                                                    MatrixType::MaxColsAtCompileTime)
+                         : (EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime) - AbsDiagIndex),
+    MaxColsAtCompileTime = 1,
+    MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit,
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost,
+    MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
+    InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
+    OuterStrideAtCompileTime = 0
+  };
+};
+}
+
+template<typename MatrixType, int DiagIndex> class Diagonal
+   : public internal::dense_xpr_base< Diagonal<MatrixType,DiagIndex> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Diagonal>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
+
+    inline Diagonal(MatrixType& matrix, Index index = DiagIndex) : m_matrix(matrix), m_index(index) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
+
+    inline Index rows() const
+    { return m_index.value()<0 ? (std::min)(m_matrix.cols(),m_matrix.rows()+m_index.value()) : (std::min)(m_matrix.rows(),m_matrix.cols()-m_index.value()); }
+
+    inline Index cols() const { return 1; }
+
+    inline Index innerStride() const
+    {
+      return m_matrix.outerStride() + 1;
+    }
+
+    inline Index outerStride() const
+    {
+      return 0;
+    }
+
+    inline Scalar& coeffRef(Index row, Index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+    }
+
+    inline const Scalar& coeffRef(Index row, Index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+    }
+
+    inline CoeffReturnType coeff(Index row, Index) const
+    {
+      return m_matrix.coeff(row+rowOffset(), row+colOffset());
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().coeffRef(index+rowOffset(), index+colOffset());
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(index+rowOffset(), index+colOffset());
+    }
+
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(index+rowOffset(), index+colOffset());
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+    const internal::variable_if_dynamic<Index, DiagIndex> m_index;
+
+  private:
+    // some compilers may fail to optimize std::max etc in case of compile-time constants...
+    EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+    EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
+    EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
+    // triger a compile time error is someone try to call packet
+    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
+    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
+};
+
+/** \returns an expression of the main diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * Example: \include MatrixBase_diagonal.cpp
+  * Output: \verbinclude MatrixBase_diagonal.out
+  *
+  * \sa class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::DiagonalReturnType
+MatrixBase<Derived>::diagonal()
+{
+  return derived();
+}
+
+/** This is the const version of diagonal(). */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::ConstDiagonalReturnType
+MatrixBase<Derived>::diagonal() const
+{
+  return ConstDiagonalReturnType(derived());
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+  *
+  * Example: \include MatrixBase_diagonal_int.cpp
+  * Output: \verbinclude MatrixBase_diagonal_int.out
+  *
+  * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Dynamic>::Type
+MatrixBase<Derived>::diagonal(Index index)
+{
+  return typename DiagonalIndexReturnType<Dynamic>::Type(derived(), index);
+}
+
+/** This is the const version of diagonal(Index). */
+template<typename Derived>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Dynamic>::Type
+MatrixBase<Derived>::diagonal(Index index) const
+{
+  return typename ConstDiagonalIndexReturnType<Dynamic>::Type(derived(), index);
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+  *
+  * Example: \include MatrixBase_diagonal_template_int.cpp
+  * Output: \verbinclude MatrixBase_diagonal_template_int.out
+  *
+  * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+template<int Index>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index>::Type
+MatrixBase<Derived>::diagonal()
+{
+  return derived();
+}
+
+/** This is the const version of diagonal<int>(). */
+template<typename Derived>
+template<int Index>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index>::Type
+MatrixBase<Derived>::diagonal() const
+{
+  return derived();
+}
+
+#endif // EIGEN_DIAGONAL_H
diff --git a/extern/Eigen3/Eigen/src/Core/DiagonalMatrix.h b/extern/Eigen3/Eigen/src/Core/DiagonalMatrix.h
new file mode 100644
index 00000000000..f41a74bfae7
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/DiagonalMatrix.h
@@ -0,0 +1,306 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONALMATRIX_H
+#define EIGEN_DIAGONALMATRIX_H
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+class DiagonalBase : public EigenBase<Derived>
+{
+  public:
+    typedef typename internal::traits<Derived>::DiagonalVectorType DiagonalVectorType;
+    typedef typename DiagonalVectorType::Scalar Scalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+
+    enum {
+      RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+      ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+      MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+      MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+      IsVectorAtCompileTime = 0,
+      Flags = 0
+    };
+
+    typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
+    typedef DenseMatrixType DenseType;
+    typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
+
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+    DenseMatrixType toDenseMatrix() const { return derived(); }
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived> &other) const;
+    template<typename DenseDerived>
+    void addTo(MatrixBase<DenseDerived> &other) const
+    { other.diagonal() += diagonal(); }
+    template<typename DenseDerived>
+    void subTo(MatrixBase<DenseDerived> &other) const
+    { other.diagonal() -= diagonal(); }
+
+    inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
+    inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
+
+    inline Index rows() const { return diagonal().size(); }
+    inline Index cols() const { return diagonal().size(); }
+
+    template<typename MatrixDerived>
+    const DiagonalProduct<MatrixDerived, Derived, OnTheLeft>
+    operator*(const MatrixBase<MatrixDerived> &matrix) const;
+
+    inline const DiagonalWrapper<CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> >
+    inverse() const
+    {
+      return diagonal().cwiseInverse();
+    }
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return diagonal().isApprox(other.diagonal(), precision);
+    }
+    template<typename OtherDerived>
+    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return toDenseMatrix().isApprox(other, precision);
+    }
+    #endif
+};
+
+template<typename Derived>
+template<typename DenseDerived>
+void DiagonalBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
+{
+  other.setZero();
+  other.diagonal() = diagonal();
+}
+#endif
+
+/** \class DiagonalMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a diagonal matrix with its storage
+  *
+  * \param _Scalar the type of coefficients
+  * \param SizeAtCompileTime the dimension of the matrix, or Dynamic
+  * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults
+  *        to SizeAtCompileTime. Most of the time, you do not need to specify it.
+  *
+  * \sa class DiagonalWrapper
+  */
+
+namespace internal {
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+ : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  enum {
+    Flags = LvalueBit
+  };
+};
+}
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+class DiagonalMatrix
+  : public DiagonalBase<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  public:
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename internal::traits<DiagonalMatrix>::DiagonalVectorType DiagonalVectorType;
+    typedef const DiagonalMatrix& Nested;
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
+    typedef typename internal::traits<DiagonalMatrix>::Index Index;
+    #endif
+
+  protected:
+
+    DiagonalVectorType m_diagonal;
+
+  public:
+
+    /** const version of diagonal(). */
+    inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
+    /** \returns a reference to the stored vector of diagonal coefficients. */
+    inline DiagonalVectorType& diagonal() { return m_diagonal; }
+
+    /** Default constructor without initialization */
+    inline DiagonalMatrix() {}
+
+    /** Constructs a diagonal matrix with given dimension  */
+    inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
+
+    /** 2D constructor. */
+    inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
+
+    /** 3D constructor. */
+    inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
+    inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {}
+    #endif
+
+    /** generic constructor from expression of the diagonal coefficients */
+    template<typename OtherDerived>
+    explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
+    {}
+
+    /** Copy operator. */
+    template<typename OtherDerived>
+    DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
+    {
+      m_diagonal = other.diagonal();
+      return *this;
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    DiagonalMatrix& operator=(const DiagonalMatrix& other)
+    {
+      m_diagonal = other.diagonal();
+      return *this;
+    }
+    #endif
+
+    /** Resizes to given size. */
+    inline void resize(Index size) { m_diagonal.resize(size); }
+    /** Sets all coefficients to zero. */
+    inline void setZero() { m_diagonal.setZero(); }
+    /** Resizes and sets all coefficients to zero. */
+    inline void setZero(Index size) { m_diagonal.setZero(size); }
+    /** Sets this matrix to be the identity matrix of the current size. */
+    inline void setIdentity() { m_diagonal.setOnes(); }
+    /** Sets this matrix to be the identity matrix of the given size. */
+    inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
+};
+
+/** \class DiagonalWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a diagonal matrix
+  *
+  * \param _DiagonalVectorType the type of the vector of diagonal coefficients
+  *
+  * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients,
+  * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal()
+  */
+
+namespace internal {
+template<typename _DiagonalVectorType>
+struct traits<DiagonalWrapper<_DiagonalVectorType> >
+{
+  typedef _DiagonalVectorType DiagonalVectorType;
+  typedef typename DiagonalVectorType::Scalar Scalar;
+  typedef typename DiagonalVectorType::Index Index;
+  typedef typename DiagonalVectorType::StorageKind StorageKind;
+  enum {
+    RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    MaxRowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    MaxColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    Flags =  traits<DiagonalVectorType>::Flags & LvalueBit
+  };
+};
+}
+
+template<typename _DiagonalVectorType>
+class DiagonalWrapper
+  : public DiagonalBase<DiagonalWrapper<_DiagonalVectorType> >, internal::no_assignment_operator
+{
+  public:
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef _DiagonalVectorType DiagonalVectorType;
+    typedef DiagonalWrapper Nested;
+    #endif
+
+    /** Constructor from expression of diagonal coefficients to wrap. */
+    inline DiagonalWrapper(const DiagonalVectorType& diagonal) : m_diagonal(diagonal) {}
+
+    /** \returns a const reference to the wrapped expression of diagonal coefficients. */
+    const DiagonalVectorType& diagonal() const { return m_diagonal; }
+
+  protected:
+    const typename DiagonalVectorType::Nested m_diagonal;
+};
+
+/** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients
+  *
+  * \only_for_vectors
+  *
+  * Example: \include MatrixBase_asDiagonal.cpp
+  * Output: \verbinclude MatrixBase_asDiagonal.out
+  *
+  * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal()
+  **/
+template<typename Derived>
+inline const DiagonalWrapper<const Derived>
+MatrixBase<Derived>::asDiagonal() const
+{
+  return derived();
+}
+
+/** \returns true if *this is approximately equal to a diagonal matrix,
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isDiagonal.cpp
+  * Output: \verbinclude MatrixBase_isDiagonal.out
+  *
+  * \sa asDiagonal()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isDiagonal(RealScalar prec) const
+{
+  if(cols() != rows()) return false;
+  RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+  {
+    RealScalar absOnDiagonal = internal::abs(coeff(j,j));
+    if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
+  }
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < j; ++i)
+    {
+      if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false;
+      if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false;
+    }
+  return true;
+}
+
+#endif // EIGEN_DIAGONALMATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/DiagonalProduct.h b/extern/Eigen3/Eigen/src/Core/DiagonalProduct.h
new file mode 100644
index 00000000000..de0c6ed11b7
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/DiagonalProduct.h
@@ -0,0 +1,135 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONALPRODUCT_H
+#define EIGEN_DIAGONALPRODUCT_H
+
+namespace internal {
+template<typename MatrixType, typename DiagonalType, int ProductOrder>
+struct traits<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
+ : traits<MatrixType>
+{
+  typedef typename scalar_product_traits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+
+    _StorageOrder = MatrixType::Flags & RowMajorBit ? RowMajor : ColMajor,
+    _PacketOnDiag = !((int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
+                    ||(int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)),
+    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
+    // FIXME currently we need same types, but in the future the next rule should be the one
+    //_Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagonalType::Flags)&PacketAccessBit))),
+    _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && ((!_PacketOnDiag) || (bool(int(DiagonalType::Flags)&PacketAccessBit))),
+
+    Flags = (HereditaryBits & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),
+    CoeffReadCost = NumTraits<Scalar>::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost
+  };
+};
+}
+
+template<typename MatrixType, typename DiagonalType, int ProductOrder>
+class DiagonalProduct : internal::no_assignment_operator,
+                        public MatrixBase<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
+{
+  public:
+
+    typedef MatrixBase<DiagonalProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(DiagonalProduct)
+
+    inline DiagonalProduct(const MatrixType& matrix, const DiagonalType& diagonal)
+      : m_matrix(matrix), m_diagonal(diagonal)
+    {
+      eigen_assert(diagonal.diagonal().size() == (ProductOrder == OnTheLeft ? matrix.rows() : matrix.cols()));
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    const Scalar coeff(Index row, Index col) const
+    {
+      return m_diagonal.diagonal().coeff(ProductOrder == OnTheLeft ? row : col) * m_matrix.coeff(row, col);
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      enum {
+        StorageOrder = Flags & RowMajorBit ? RowMajor : ColMajor
+      };
+      const Index indexInDiagonalVector = ProductOrder == OnTheLeft ? row : col;
+
+      return packet_impl<LoadMode>(row,col,indexInDiagonalVector,typename internal::conditional<
+        ((int(StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
+       ||(int(StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)), internal::true_type, internal::false_type>::type());
+    }
+
+  protected:
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::true_type) const
+    {
+      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
+                     internal::pset1<PacketScalar>(m_diagonal.diagonal().coeff(id)));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::false_type) const
+    {
+      enum {
+        InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
+        DiagonalVectorPacketLoadMode = (LoadMode == Aligned && ((InnerSize%16) == 0)) ? Aligned : Unaligned
+      };
+      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
+                     m_diagonal.diagonal().template packet<DiagonalVectorPacketLoadMode>(id));
+    }
+
+    const typename MatrixType::Nested m_matrix;
+    const typename DiagonalType::Nested m_diagonal;
+};
+
+/** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
+  */
+template<typename Derived>
+template<typename DiagonalDerived>
+inline const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &diagonal) const
+{
+  return DiagonalProduct<Derived, DiagonalDerived, OnTheRight>(derived(), diagonal.derived());
+}
+
+/** \returns the diagonal matrix product of \c *this by the matrix \a matrix.
+  */
+template<typename DiagonalDerived>
+template<typename MatrixDerived>
+inline const DiagonalProduct<MatrixDerived, DiagonalDerived, OnTheLeft>
+DiagonalBase<DiagonalDerived>::operator*(const MatrixBase<MatrixDerived> &matrix) const
+{
+  return DiagonalProduct<MatrixDerived, DiagonalDerived, OnTheLeft>(matrix.derived(), derived());
+}
+
+
+#endif // EIGEN_DIAGONALPRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Core/Dot.h b/extern/Eigen3/Eigen/src/Core/Dot.h
new file mode 100644
index 00000000000..42da7849896
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Dot.h
@@ -0,0 +1,272 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008, 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DOT_H
+#define EIGEN_DOT_H
+
+namespace internal {
+
+// helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot
+// with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE
+// looking at the static assertions. Thus this is a trick to get better compile errors.
+template<typename T, typename U,
+// the NeedToTranspose condition here is taken straight from Assign.h
+         bool NeedToTranspose = T::IsVectorAtCompileTime
+                && U::IsVectorAtCompileTime
+                && ((int(T::RowsAtCompileTime) == 1 && int(U::ColsAtCompileTime) == 1)
+                      |  // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                         // revert to || as soon as not needed anymore.
+                    (int(T::ColsAtCompileTime) == 1 && int(U::RowsAtCompileTime) == 1))
+>
+struct dot_nocheck
+{
+  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  {
+    return a.template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+  }
+};
+
+template<typename T, typename U>
+struct dot_nocheck<T, U, true>
+{
+  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  {
+    return a.transpose().template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the dot product of *this with other.
+  *
+  * \only_for_vectors
+  *
+  * \note If the scalar type is complex numbers, then this function returns the hermitian
+  * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the
+  * second variable.
+  *
+  * \sa squaredNorm(), norm()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
+  EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
+
+  eigen_assert(size() == other.size());
+
+  return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
+}
+
+#ifdef EIGEN2_SUPPORT
+/** \returns the dot product of *this with other, with the Eigen2 convention that the dot product is linear in the first variable
+  * (conjugating the second variable). Of course this only makes a difference in the complex case.
+  *
+  * This method is only available in EIGEN2_SUPPORT mode.
+  *
+  * \only_for_vectors
+  *
+  * \sa dot()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::traits<Derived>::Scalar
+MatrixBase<Derived>::eigen2_dot(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  eigen_assert(size() == other.size());
+
+  return internal::dot_nocheck<OtherDerived,Derived>::run(other,*this);
+}
+#endif
+
+
+//---------- implementation of L2 norm and related functions ----------
+
+/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
+  * In both cases, it consists in the sum of the square of all the matrix entries.
+  * For vectors, this is also equals to the dot product of \c *this with itself.
+  *
+  * \sa dot(), norm()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
+{
+  return internal::real((*this).cwiseAbs2().sum());
+}
+
+/** \returns, for vectors, the \em l2 norm of \c *this, and for matrices the Frobenius norm.
+  * In both cases, it consists in the square root of the sum of the square of all the matrix entries.
+  * For vectors, this is also equals to the square root of the dot product of \c *this with itself.
+  *
+  * \sa dot(), squaredNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
+{
+  return internal::sqrt(squaredNorm());
+}
+
+/** \returns an expression of the quotient of *this by its own norm.
+  *
+  * \only_for_vectors
+  *
+  * \sa norm(), normalize()
+  */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::normalized() const
+{
+  typedef typename internal::nested<Derived>::type Nested;
+  typedef typename internal::remove_reference<Nested>::type _Nested;
+  _Nested n(derived());
+  return n / n.norm();
+}
+
+/** Normalizes the vector, i.e. divides it by its own norm.
+  *
+  * \only_for_vectors
+  *
+  * \sa norm(), normalized()
+  */
+template<typename Derived>
+inline void MatrixBase<Derived>::normalize()
+{
+  *this /= norm();
+}
+
+//---------- implementation of other norms ----------
+
+namespace internal {
+
+template<typename Derived, int p>
+struct lpNorm_selector
+{
+  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  inline static RealScalar run(const MatrixBase<Derived>& m)
+  {
+    return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 1>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.cwiseAbs().sum();
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 2>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.norm();
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, Infinity>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.cwiseAbs().maxCoeff();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the \f$ \ell^p \f$ norm of *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
+  *          of the coefficients of *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
+  *          norm, that is the maximum of the absolute values of the coefficients of *this.
+  *
+  * \sa norm()
+  */
+template<typename Derived>
+template<int p>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::lpNorm() const
+{
+  return internal::lpNorm_selector<Derived, p>::run(*this);
+}
+
+//---------- implementation of isOrthogonal / isUnitary ----------
+
+/** \returns true if *this is approximately orthogonal to \a other,
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isOrthogonal.cpp
+  * Output: \verbinclude MatrixBase_isOrthogonal.out
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool MatrixBase<Derived>::isOrthogonal
+(const MatrixBase<OtherDerived>& other, RealScalar prec) const
+{
+  typename internal::nested<Derived,2>::type nested(derived());
+  typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
+  return internal::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
+}
+
+/** \returns true if *this is approximately an unitary matrix,
+  *          within the precision given by \a prec. In the case where the \a Scalar
+  *          type is real numbers, a unitary matrix is an orthogonal matrix, whence the name.
+  *
+  * \note This can be used to check whether a family of vectors forms an orthonormal basis.
+  *       Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an
+  *       orthonormal basis.
+  *
+  * Example: \include MatrixBase_isUnitary.cpp
+  * Output: \verbinclude MatrixBase_isUnitary.out
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isUnitary(RealScalar prec) const
+{
+  typename Derived::Nested nested(derived());
+  for(Index i = 0; i < cols(); ++i)
+  {
+    if(!internal::isApprox(nested.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
+      return false;
+    for(Index j = 0; j < i; ++j)
+      if(!internal::isMuchSmallerThan(nested.col(i).dot(nested.col(j)), static_cast<Scalar>(1), prec))
+        return false;
+  }
+  return true;
+}
+
+#endif // EIGEN_DOT_H
diff --git a/extern/Eigen3/Eigen/src/Core/EigenBase.h b/extern/Eigen3/Eigen/src/Core/EigenBase.h
new file mode 100644
index 00000000000..0472539af33
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/EigenBase.h
@@ -0,0 +1,172 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENBASE_H
+#define EIGEN_EIGENBASE_H
+
+
+/** Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
+  *
+  * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
+  *
+  * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc.
+  *
+  * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> struct EigenBase
+{
+//   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
+
+  typedef typename internal::traits<Derived>::StorageKind StorageKind;
+  typedef typename internal::traits<Derived>::Index Index;
+
+  /** \returns a reference to the derived object */
+  Derived& derived() { return *static_cast<Derived*>(this); }
+  /** \returns a const reference to the derived object */
+  const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+  inline Derived& const_cast_derived() const
+  { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
+  inline const Derived& const_derived() const
+  { return *static_cast<const Derived*>(this); }
+
+  /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+  inline Index rows() const { return derived().rows(); }
+  /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+  inline Index cols() const { return derived().cols(); }
+  /** \returns the number of coefficients, which is rows()*cols().
+    * \sa rows(), cols(), SizeAtCompileTime. */
+  inline Index size() const { return rows() * cols(); }
+
+  /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  { derived().evalTo(dst); }
+
+  /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
+  template<typename Dest> inline void addTo(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    typename Dest::PlainObject res(rows(),cols());
+    evalTo(res);
+    dst += res;
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
+  template<typename Dest> inline void subTo(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    typename Dest::PlainObject res(rows(),cols());
+    evalTo(res);
+    dst -= res;
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
+  template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    dst = dst * this->derived();
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
+  template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    dst = this->derived() * dst;
+  }
+
+};
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \brief Copies the generic expression \a other into *this.
+  *
+  * \details The expression must provide a (templated) evalTo(Derived& dst) const
+  * function which does the actual job. In practice, this allows any user to write
+  * its own special matrix without having to modify MatrixBase
+  *
+  * \returns a reference to *this.
+  */
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().addTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().subTo(derived());
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline Derived&
+MatrixBase<Derived>::operator*=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheRight(derived());
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=() */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheRight(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheRight(derived());
+}
+
+/** replaces \c *this by \c *this * \a other. */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheLeft(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheLeft(derived());
+}
+
+#endif // EIGEN_EIGENBASE_H
diff --git a/extern/Eigen2/Eigen/src/Core/Flagged.h b/extern/Eigen3/Eigen/src/Core/Flagged.h
index e3d25341d9e..458213ab553 100644
--- a/extern/Eigen2/Eigen/src/Core/Flagged.h
+++ b/extern/Eigen3/Eigen/src/Core/Flagged.h
@@ -1,5 +1,5 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
@@ -26,6 +26,7 @@
 #define EIGEN_FLAGGED_H
 
 /** \class Flagged
+  * \ingroup Core_Module
   *
   * \brief Expression with modified flags
   *
@@ -39,109 +40,110 @@
   *
   * \sa MatrixBase::flagged()
   */
+
+namespace internal {
 template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-struct ei_traits<Flagged<ExpressionType, Added, Removed> > : ei_traits<ExpressionType>
+struct traits<Flagged<ExpressionType, Added, Removed> > : traits<ExpressionType>
 {
   enum { Flags = (ExpressionType::Flags | Added) & ~Removed };
 };
+}
 
 template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged
   : public MatrixBase<Flagged<ExpressionType, Added, Removed> >
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Flagged)
-    typedef typename ei_meta_if<ei_must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::ret ExpressionTypeNested;
+    typedef MatrixBase<Flagged> Base;
+    
+    EIGEN_DENSE_PUBLIC_INTERFACE(Flagged)
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
     typedef typename ExpressionType::InnerIterator InnerIterator;
 
     inline Flagged(const ExpressionType& matrix) : m_matrix(matrix) {}
 
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-    inline int stride() const { return m_matrix.stride(); }
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
 
-    inline const Scalar coeff(int row, int col) const
+    inline CoeffReturnType coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(index);
+    }
+    
+    inline const Scalar& coeffRef(Index row, Index col) const
     {
       return m_matrix.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const Scalar coeff(int index) const
+    inline const Scalar& coeffRef(Index index) const
     {
-      return m_matrix.coeff(index);
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_matrix.const_cast_derived().coeffRef(row, col);
     }
 
-    inline Scalar& coeffRef(int index)
+    inline Scalar& coeffRef(Index index)
     {
       return m_matrix.const_cast_derived().coeffRef(index);
     }
 
     template<int LoadMode>
-    inline const PacketScalar packet(int row, int col) const
+    inline const PacketScalar packet(Index row, Index col) const
     {
       return m_matrix.template packet<LoadMode>(row, col);
     }
 
     template<int LoadMode>
-    inline void writePacket(int row, int col, const PacketScalar& x)
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
     {
       m_matrix.const_cast_derived().template writePacket<LoadMode>(row, col, x);
     }
 
     template<int LoadMode>
-    inline const PacketScalar packet(int index) const
+    inline const PacketScalar packet(Index index) const
     {
       return m_matrix.template packet<LoadMode>(index);
     }
 
     template<int LoadMode>
-    inline void writePacket(int index, const PacketScalar& x)
+    inline void writePacket(Index index, const PacketScalar& x)
     {
       m_matrix.const_cast_derived().template writePacket<LoadMode>(index, x);
     }
 
     const ExpressionType& _expression() const { return m_matrix; }
 
+    template<typename OtherDerived>
+    typename ExpressionType::PlainObject solveTriangular(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived>
+    void solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const;
+
   protected:
     ExpressionTypeNested m_matrix;
-
-private:
-  Flagged& operator=(const Flagged&);
 };
 
-/** \returns an expression of *this with added flags
-  *
-  * \addexample MarkExample \label How to mark a triangular matrix as triangular
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * \sa class Flagged, extract(), part()
-  */
-template<typename Derived>
-template<unsigned int Added>
-inline const Flagged<Derived, Added, 0>
-MatrixBase<Derived>::marked() const
-{
-  return derived();
-}
-
-/** \returns an expression of *this with the following flags removed:
-  * EvalBeforeNestingBit and EvalBeforeAssigningBit.
+/** \returns an expression of *this with added and removed flags
   *
-  * Example: \include MatrixBase_lazy.cpp
-  * Output: \verbinclude MatrixBase_lazy.out
+  * This is mostly for internal use.
   *
-  * \sa class Flagged, marked()
+  * \sa class Flagged
   */
 template<typename Derived>
-inline const Flagged<Derived, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit>
-MatrixBase<Derived>::lazy() const
+template<unsigned int Added,unsigned int Removed>
+inline const Flagged<Derived, Added, Removed>
+DenseBase<Derived>::flagged() const
 {
   return derived();
 }
diff --git a/extern/Eigen3/Eigen/src/Core/ForceAlignedAccess.h b/extern/Eigen3/Eigen/src/Core/ForceAlignedAccess.h
new file mode 100644
index 00000000000..11c1f8f709a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/ForceAlignedAccess.h
@@ -0,0 +1,157 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FORCEALIGNEDACCESS_H
+#define EIGEN_FORCEALIGNEDACCESS_H
+
+/** \class ForceAlignedAccess
+  * \ingroup Core_Module
+  *
+  * \brief Enforce aligned packet loads and stores regardless of what is requested
+  *
+  * \param ExpressionType the type of the object of which we are forcing aligned packet access
+  *
+  * This class is the return type of MatrixBase::forceAlignedAccess()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::forceAlignedAccess()
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ForceAlignedAccess<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
+template<typename ExpressionType> class ForceAlignedAccess
+  : public internal::dense_xpr_base< ForceAlignedAccess<ExpressionType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
+
+    inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<Aligned>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<Aligned>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<Aligned>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
+    }
+
+    operator const ExpressionType&() const { return m_expression; }
+
+  protected:
+    const ExpressionType& m_expression;
+
+  private:
+    ForceAlignedAccess& operator=(const ForceAlignedAccess&);
+};
+
+/** \returns an expression of *this with forced aligned access
+  * \sa forceAlignedAccessIf(),class ForceAlignedAccess
+  */
+template<typename Derived>
+inline const ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess() const
+{
+  return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access
+  * \sa forceAlignedAccessIf(), class ForceAlignedAccess
+  */
+template<typename Derived>
+inline ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess()
+{
+  return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+  * \sa forceAlignedAccess(), class ForceAlignedAccess
+  */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
+MatrixBase<Derived>::forceAlignedAccessIf() const
+{
+  return derived();
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+  * \sa forceAlignedAccess(), class ForceAlignedAccess
+  */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
+MatrixBase<Derived>::forceAlignedAccessIf()
+{
+  return derived();
+}
+
+#endif // EIGEN_FORCEALIGNEDACCESS_H
diff --git a/extern/Eigen3/Eigen/src/Core/Functors.h b/extern/Eigen3/Eigen/src/Core/Functors.h
new file mode 100644
index 00000000000..54636e0d459
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Functors.h
@@ -0,0 +1,942 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FUNCTORS_H
+#define EIGEN_FUNCTORS_H
+
+namespace internal {
+
+// associative functors:
+
+/** \internal
+  * \brief Template functor to compute the sum of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, MatrixBase::sum()
+  */
+template<typename Scalar> struct scalar_sum_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a + b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::padd(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sum_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAdd
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the product of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
+  */
+template<typename LhsScalar,typename RhsScalar> struct scalar_product_op {
+  enum {
+    // TODO vectorize mixed product
+    Vectorizable = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
+  };
+  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmul(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_mul(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
+    PacketAccess = scalar_product_op<LhsScalar,RhsScalar>::Vectorizable
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the conjugate product of two scalars
+  *
+  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
+  */
+template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op {
+
+  enum {
+    Conj = NumTraits<LhsScalar>::IsComplex
+  };
+  
+  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
+  
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
+  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
+  
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = NumTraits<LhsScalar>::MulCost,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the min of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
+  */
+template<typename Scalar> struct scalar_min_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { using std::min; return (min)(a, b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmin(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux_min(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_min_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasMin
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the max of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
+  */
+template<typename Scalar> struct scalar_max_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { using std::max; return (max)(a, b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmax(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux_max(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_max_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasMax
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the hypot of two scalars
+  *
+  * \sa MatrixBase::stableNorm(), class Redux
+  */
+template<typename Scalar> struct scalar_hypot_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
+//   typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
+  {
+    using std::max;
+    using std::min;
+    Scalar p = (max)(_x, _y);
+    Scalar q = (min)(_x, _y);
+    Scalar qp = q/p;
+    return p * sqrt(Scalar(1) + qp*qp);
+  }
+};
+template<typename Scalar>
+struct functor_traits<scalar_hypot_op<Scalar> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess=0 };
+};
+
+// other binary functors:
+
+/** \internal
+  * \brief Template functor to compute the difference of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_difference_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a - b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::psub(a,b); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_difference_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the quotient of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator/()
+  */
+template<typename Scalar> struct scalar_quotient_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a / b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pdiv(a,b); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient_op<Scalar> > {
+  enum {
+    Cost = 2 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasDiv
+  };
+};
+
+// unary functors:
+
+/** \internal
+  * \brief Template functor to compute the opposite of a scalar
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_opposite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pnegate(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_opposite_op<Scalar> >
+{ enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasNegate };
+};
+
+/** \internal
+  * \brief Template functor to compute the absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs
+  */
+template<typename Scalar> struct scalar_abs_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return abs(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pabs(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAbs
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the squared absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs2
+  */
+template<typename Scalar> struct scalar_abs2_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return abs2(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs2_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
+
+/** \internal
+  * \brief Template functor to compute the conjugate of a complex value
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
+  */
+template<typename Scalar> struct scalar_conjugate_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return conj(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_conjugate_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+    PacketAccess = packet_traits<Scalar>::HasConj
+  };
+};
+
+/** \internal
+  * \brief Template functor to cast a scalar to another type
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::cast()
+  */
+template<typename Scalar, typename NewType>
+struct scalar_cast_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef NewType result_type;
+  EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
+};
+template<typename Scalar, typename NewType>
+struct functor_traits<scalar_cast_op<Scalar,NewType> >
+{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return real(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return imag(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return real_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return imag_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the exponential of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::exp()
+  */
+template<typename Scalar> struct scalar_exp_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
+  inline const Scalar operator() (const Scalar& a) const { return exp(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_exp_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasExp }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::log()
+  */
+template<typename Scalar> struct scalar_log_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
+  inline const Scalar operator() (const Scalar& a) const { return log(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog }; };
+
+/** \internal
+  * \brief Template functor to multiply a scalar by a fixed other one
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator*, MatrixBase::operator/
+  */
+/* NOTE why doing the pset1() in packetOp *is* an optimization ?
+ * indeed it seems better to declare m_other as a Packet and do the pset1() once
+ * in the constructor. However, in practice:
+ *  - GCC does not like m_other as a Packet and generate a load every time it needs it
+ *  - on the other hand GCC is able to moves the pset1() away the loop :)
+ *  - simpler code ;)
+ * (ICC and gcc 4.4 seems to perform well in both cases, the issue is visible with y = a*x + b*y)
+ */
+template<typename Scalar>
+struct scalar_multiple_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_multiple_op(const scalar_multiple_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_multiple_op(const Scalar& other) : m_other(other) { }
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a, pset1<Packet>(m_other)); }
+  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_multiple_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+template<typename Scalar1, typename Scalar2>
+struct scalar_multiple2_op {
+  typedef typename scalar_product_traits<Scalar1,Scalar2>::ReturnType result_type;
+  EIGEN_STRONG_INLINE scalar_multiple2_op(const scalar_multiple2_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_multiple2_op(const Scalar2& other) : m_other(other) { }
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar1& a) const { return a * m_other; }
+  typename add_const_on_value_type<typename NumTraits<Scalar2>::Nested>::type m_other;
+};
+template<typename Scalar1,typename Scalar2>
+struct functor_traits<scalar_multiple2_op<Scalar1,Scalar2> >
+{ enum { Cost = NumTraits<Scalar1>::MulCost, PacketAccess = false }; };
+
+template<typename Scalar, bool IsInteger>
+struct scalar_quotient1_impl {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(static_cast<Scalar>(1) / other) {}
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a, pset1<Packet>(m_other)); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_impl<Scalar,false> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+template<typename Scalar>
+struct scalar_quotient1_impl<Scalar,true> {
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(other) {}
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
+  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_impl<Scalar,true> >
+{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to divide a scalar by a fixed other one
+  *
+  * This functor is used to implement the quotient of a matrix by
+  * a scalar where the scalar type is not necessarily a floating point type.
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator/
+  */
+template<typename Scalar>
+struct scalar_quotient1_op : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger > {
+  EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other)
+    : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger >(other) {}
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_op<Scalar> >
+: functor_traits<scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger> >
+{};
+
+// nullary functors
+
+template<typename Scalar>
+struct scalar_constant_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index, Index = 0) const { return m_other; }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index, Index = 0) const { return internal::pset1<Packet>(m_other); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_constant_op<Scalar> >
+// FIXME replace this packet test by a safe one
+{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
+
+template<typename Scalar> struct scalar_identity_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const { return row==col ? Scalar(1) : Scalar(0); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_identity_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
+
+template <typename Scalar, bool RandomAccess> struct linspaced_op_impl;
+
+// linear access for packet ops:
+// 1) initialization
+//   base = [low, ..., low] + ([step, ..., step] * [-size, ..., 0])
+// 2) each step
+//   base += [size*step, ..., size*step]
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,false>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+
+  linspaced_op_impl(Scalar low, Scalar step) :
+  m_low(low), m_step(step),
+  m_packetStep(pset1<Packet>(packet_traits<Scalar>::size*step)),
+  m_base(padd(pset1<Packet>(low),pmul(pset1<Packet>(step),plset<Scalar>(-packet_traits<Scalar>::size)))) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return m_low+i*m_step; }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index) const { return m_base = padd(m_base,m_packetStep); }
+
+  const Scalar m_low;
+  const Scalar m_step;
+  const Packet m_packetStep;
+  mutable Packet m_base;
+};
+
+// random access for packet ops:
+// 1) each step
+//   [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,true>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+
+  linspaced_op_impl(Scalar low, Scalar step) :
+  m_low(low), m_step(step),
+  m_lowPacket(pset1<Packet>(m_low)), m_stepPacket(pset1<Packet>(m_step)), m_interPacket(plset<Scalar>(0)) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return m_low+i*m_step; }
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const
+  { return internal::padd(m_lowPacket, pmul(m_stepPacket, padd(pset1<Packet>(i),m_interPacket))); }
+
+  const Scalar m_low;
+  const Scalar m_step;
+  const Packet m_lowPacket;
+  const Packet m_stepPacket;
+  const Packet m_interPacket;
+};
+
+// ----- Linspace functor ----------------------------------------------------------------
+
+// Forward declaration (we default to random access which does not really give
+// us a speed gain when using packet access but it allows to use the functor in
+// nested expressions).
+template <typename Scalar, bool RandomAccess = true> struct linspaced_op;
+template <typename Scalar, bool RandomAccess> struct functor_traits< linspaced_op<Scalar,RandomAccess> >
+{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::HasSetLinear, IsRepeatable = true }; };
+template <typename Scalar, bool RandomAccess> struct linspaced_op
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  linspaced_op(Scalar low, Scalar high, int num_steps) : impl(low, (high-low)/(num_steps-1)) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return impl(i); }
+
+  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
+  // there row==0 and col is used for the actual iteration.
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const 
+  {
+    eigen_assert(col==0 || row==0);
+    return impl(col + row);
+  }
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const { return impl.packetOp(i); }
+
+  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
+  // there row==0 and col is used for the actual iteration.
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index row, Index col) const
+  {
+    eigen_assert(col==0 || row==0);
+    return impl.packetOp(col + row);
+  }
+
+  // This proxy object handles the actual required temporaries, the different
+  // implementations (random vs. sequential access) as well as the
+  // correct piping to size 2/4 packet operations.
+  const linspaced_op_impl<Scalar,RandomAccess> impl;
+};
+
+// all functors allow linear access, except scalar_identity_op. So we fix here a quick meta
+// to indicate whether a functor allows linear access, just always answering 'yes' except for
+// scalar_identity_op.
+// FIXME move this to functor_traits adding a functor_default
+template<typename Functor> struct functor_has_linear_access { enum { ret = 1 }; };
+template<typename Scalar> struct functor_has_linear_access<scalar_identity_op<Scalar> > { enum { ret = 0 }; };
+
+// in CwiseBinaryOp, we require the Lhs and Rhs to have the same scalar type, except for multiplication
+// where we only require them to have the same _real_ scalar type so one may multiply, say, float by complex<float>.
+// FIXME move this to functor_traits adding a functor_default
+template<typename Functor> struct functor_allows_mixing_real_and_complex { enum { ret = 0 }; };
+template<typename LhsScalar,typename RhsScalar> struct functor_allows_mixing_real_and_complex<scalar_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
+template<typename LhsScalar,typename RhsScalar> struct functor_allows_mixing_real_and_complex<scalar_conj_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
+
+
+/** \internal
+  * \brief Template functor to add a scalar to a fixed other one
+  * \sa class CwiseUnaryOp, Array::operator+
+  */
+/* If you wonder why doing the pset1() in packetOp() is an optimization check scalar_multiple_op */
+template<typename Scalar>
+struct scalar_add_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  inline scalar_add_op(const scalar_add_op& other) : m_other(other.m_other) { }
+  inline scalar_add_op(const Scalar& other) : m_other(other) { }
+  inline Scalar operator() (const Scalar& a) const { return a + m_other; }
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::padd(a, pset1<Packet>(m_other)); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_add_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = packet_traits<Scalar>::HasAdd }; };
+
+/** \internal
+  * \brief Template functor to compute the square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sqrt()
+  */
+template<typename Scalar> struct scalar_sqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+  inline const Scalar operator() (const Scalar& a) const { return sqrt(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sqrt_op<Scalar> >
+{ enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cos()
+  */
+template<typename Scalar> struct scalar_cos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
+  inline Scalar operator() (const Scalar& a) const { return cos(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sin()
+  */
+template<typename Scalar> struct scalar_sin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
+  inline const Scalar operator() (const Scalar& a) const { return sin(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the tan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tan()
+  */
+template<typename Scalar> struct scalar_tan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
+  inline const Scalar operator() (const Scalar& a) const { return tan(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_tan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasTan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::acos()
+  */
+template<typename Scalar> struct scalar_acos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
+  inline const Scalar operator() (const Scalar& a) const { return acos(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_acos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasACos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::asin()
+  */
+template<typename Scalar> struct scalar_asin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
+  inline const Scalar operator() (const Scalar& a) const { return asin(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_asin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasASin
+  };
+};
+
+/** \internal
+  * \brief Template functor to raise a scalar to a power
+  * \sa class CwiseUnaryOp, Cwise::pow
+  */
+template<typename Scalar>
+struct scalar_pow_op {
+  // FIXME default copy constructors seems bugged with std::complex<>
+  inline scalar_pow_op(const scalar_pow_op& other) : m_exponent(other.m_exponent) { }
+  inline scalar_pow_op(const Scalar& exponent) : m_exponent(exponent) {}
+  inline Scalar operator() (const Scalar& a) const { return internal::pow(a, m_exponent); }
+  const Scalar m_exponent;
+};
+template<typename Scalar>
+struct functor_traits<scalar_pow_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to compute the inverse of a scalar
+  * \sa class CwiseUnaryOp, Cwise::inverse()
+  */
+template<typename Scalar>
+struct scalar_inverse_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
+  inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
+
+/** \internal
+  * \brief Template functor to compute the square of a scalar
+  * \sa class CwiseUnaryOp, Cwise::square()
+  */
+template<typename Scalar>
+struct scalar_square_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+  inline Scalar operator() (const Scalar& a) const { return a*a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_square_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the cube of a scalar
+  * \sa class CwiseUnaryOp, Cwise::cube()
+  */
+template<typename Scalar>
+struct scalar_cube_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+  inline Scalar operator() (const Scalar& a) const { return a*a*a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,pmul(a,a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cube_op<Scalar> >
+{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+// default functor traits for STL functors:
+
+template<typename T>
+struct functor_traits<std::multiplies<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::divides<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::plus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::minus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::negate<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_or<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_and<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_not<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::not_equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder2nd<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder1st<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::unary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+#ifdef EIGEN_STDEXT_SUPPORT
+
+template<typename T0,typename T1>
+struct functor_traits<std::project1st<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::project2nd<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select2nd<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select1st<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::unary_compose<T0,T1> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
+
+template<typename T0,typename T1,typename T2>
+struct functor_traits<std::binary_compose<T0,T1,T2> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
+
+#endif // EIGEN_STDEXT_SUPPORT
+
+// allow to add new functors and specializations of functor_traits from outside Eigen.
+// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
+#ifdef EIGEN_FUNCTORS_PLUGIN
+#include EIGEN_FUNCTORS_PLUGIN
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_FUNCTORS_H
diff --git a/extern/Eigen3/Eigen/src/Core/Fuzzy.h b/extern/Eigen3/Eigen/src/Core/Fuzzy.h
new file mode 100644
index 00000000000..d266eed0ac6
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Fuzzy.h
@@ -0,0 +1,161 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FUZZY_H
+#define EIGEN_FUZZY_H
+
+namespace internal
+{
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isApprox_selector
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar prec)
+  {
+    using std::min;
+    const typename internal::nested<Derived,2>::type nested(x);
+    const typename internal::nested<OtherDerived,2>::type otherNested(y);
+    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * (min)(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
+  }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isApprox_selector<Derived, OtherDerived, true>
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar)
+  {
+    return x.matrix() == y.matrix();
+  }
+};
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_object_selector
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar prec)
+  {
+    return x.cwiseAbs2().sum() <= abs2(prec) * y.cwiseAbs2().sum();
+  }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
+{
+  static bool run(const Derived& x, const OtherDerived&, typename Derived::RealScalar)
+  {
+    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+  }
+};
+
+template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_scalar_selector
+{
+  static bool run(const Derived& x, const typename Derived::RealScalar& y, typename Derived::RealScalar prec)
+  {
+    return x.cwiseAbs2().sum() <= abs2(prec * y);
+  }
+};
+
+template<typename Derived>
+struct isMuchSmallerThan_scalar_selector<Derived, true>
+{
+  static bool run(const Derived& x, const typename Derived::RealScalar&, typename Derived::RealScalar)
+  {
+    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+  }
+};
+
+} // end namespace internal
+
+
+/** \returns \c true if \c *this is approximately equal to \a other, within the precision
+  * determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
+  * are considered to be approximately equal within precision \f$ p \f$ if
+  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
+  * L2 norm).
+  *
+  * \note Because of the multiplicativeness of this comparison, one can't use this function
+  * to check whether \c *this is approximately equal to the zero matrix or vector.
+  * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
+  * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const
+  * RealScalar&, RealScalar) instead.
+  *
+  * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isApprox(
+  const DenseBase<OtherDerived>& other,
+  RealScalar prec
+) const
+{
+  return internal::isApprox_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than \a other,
+  * within the precision determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+  * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
+  * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
+  *
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason,
+  * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm
+  * of a reference matrix of same dimensions.
+  *
+  * \sa isApprox(), isMuchSmallerThan(const DenseBase<OtherDerived>&, RealScalar) const
+  */
+template<typename Derived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+  const typename NumTraits<Scalar>::Real& other,
+  RealScalar prec
+) const
+{
+  return internal::isMuchSmallerThan_scalar_selector<Derived>::run(derived(), other, prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
+  * within the precision determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+  * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
+  * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm.
+  *
+  * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+  const DenseBase<OtherDerived>& other,
+  RealScalar prec
+) const
+{
+  return internal::isMuchSmallerThan_object_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+#endif // EIGEN_FUZZY_H
diff --git a/extern/Eigen3/Eigen/src/Core/GenericPacketMath.h b/extern/Eigen3/Eigen/src/Core/GenericPacketMath.h
new file mode 100644
index 00000000000..8ed83532712
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/GenericPacketMath.h
@@ -0,0 +1,339 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERIC_PACKET_MATH_H
+#define EIGEN_GENERIC_PACKET_MATH_H
+
+namespace internal {
+
+/** \internal
+  * \file GenericPacketMath.h
+  *
+  * Default implementation for types not supported by the vectorization.
+  * In practice these functions are provided to make easier the writing
+  * of generic vectorized code.
+  */
+
+#ifndef EIGEN_DEBUG_ALIGNED_LOAD
+#define EIGEN_DEBUG_ALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_LOAD
+#define EIGEN_DEBUG_UNALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_ALIGNED_STORE
+#define EIGEN_DEBUG_ALIGNED_STORE
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_STORE
+#define EIGEN_DEBUG_UNALIGNED_STORE
+#endif
+
+struct default_packet_traits
+{
+  enum {
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasNegate = 1,
+    HasAbs    = 1,
+    HasAbs2   = 1,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasSetLinear = 1,
+
+    HasDiv    = 0,
+    HasSqrt   = 0,
+    HasExp    = 0,
+    HasLog    = 0,
+    HasPow    = 0,
+
+    HasSin    = 0,
+    HasCos    = 0,
+    HasTan    = 0,
+    HasASin   = 0,
+    HasACos   = 0,
+    HasATan   = 0
+  };
+};
+
+template<typename T> struct packet_traits : default_packet_traits
+{
+  typedef T type;
+  enum {
+    Vectorizable = 0,
+    size = 1,
+    AlignedOnScalar = 0
+  };
+  enum {
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0
+  };
+};
+
+/** \internal \returns a + b (coeff-wise) */
+template<typename Packet> inline Packet
+padd(const Packet& a,
+        const Packet& b) { return a+b; }
+
+/** \internal \returns a - b (coeff-wise) */
+template<typename Packet> inline Packet
+psub(const Packet& a,
+        const Packet& b) { return a-b; }
+
+/** \internal \returns -a (coeff-wise) */
+template<typename Packet> inline Packet
+pnegate(const Packet& a) { return -a; }
+
+/** \internal \returns conj(a) (coeff-wise) */
+template<typename Packet> inline Packet
+pconj(const Packet& a) { return conj(a); }
+
+/** \internal \returns a * b (coeff-wise) */
+template<typename Packet> inline Packet
+pmul(const Packet& a,
+        const Packet& b) { return a*b; }
+
+/** \internal \returns a / b (coeff-wise) */
+template<typename Packet> inline Packet
+pdiv(const Packet& a,
+        const Packet& b) { return a/b; }
+
+/** \internal \returns the min of \a a and \a b  (coeff-wise) */
+template<typename Packet> inline Packet
+pmin(const Packet& a,
+        const Packet& b) { using std::min; return (min)(a, b); }
+
+/** \internal \returns the max of \a a and \a b  (coeff-wise) */
+template<typename Packet> inline Packet
+pmax(const Packet& a,
+        const Packet& b) { using std::max; return (max)(a, b); }
+
+/** \internal \returns the absolute value of \a a */
+template<typename Packet> inline Packet
+pabs(const Packet& a) { return abs(a); }
+
+/** \internal \returns the bitwise and of \a a and \a b */
+template<typename Packet> inline Packet
+pand(const Packet& a, const Packet& b) { return a & b; }
+
+/** \internal \returns the bitwise or of \a a and \a b */
+template<typename Packet> inline Packet
+por(const Packet& a, const Packet& b) { return a | b; }
+
+/** \internal \returns the bitwise xor of \a a and \a b */
+template<typename Packet> inline Packet
+pxor(const Packet& a, const Packet& b) { return a ^ b; }
+
+/** \internal \returns the bitwise andnot of \a a and \a b */
+template<typename Packet> inline Packet
+pandnot(const Packet& a, const Packet& b) { return a & (!b); }
+
+/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
+template<typename Packet> inline Packet
+pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet version of \a *from, (un-aligned load) */
+template<typename Packet> inline Packet
+ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with elements of \a *from duplicated, e.g.: (from[0],from[0],from[1],from[1]) */
+template<typename Packet> inline Packet
+ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
+template<typename Packet> inline Packet
+pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
+
+/** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
+template<typename Scalar> inline typename packet_traits<Scalar>::type
+plset(const Scalar& a) { return a; }
+
+/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
+template<typename Scalar, typename Packet> inline void pstore(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+/** \internal copy the packet \a from to \a *to, (un-aligned store) */
+template<typename Scalar, typename Packet> inline void pstoreu(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+/** \internal tries to do cache prefetching of \a addr */
+template<typename Scalar> inline void prefetch(const Scalar* addr)
+{
+#if !defined(_MSC_VER)
+__builtin_prefetch(addr);
+#endif
+}
+
+/** \internal \returns the first element of a packet */
+template<typename Packet> inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
+{ return a; }
+
+/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
+template<typename Packet> inline Packet
+preduxp(const Packet* vecs) { return vecs[0]; }
+
+/** \internal \returns the sum of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+{ return a; }
+
+/** \internal \returns the product of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
+{ return a; }
+
+/** \internal \returns the min of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
+{ return a; }
+
+/** \internal \returns the max of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
+{ return a; }
+
+/** \internal \returns the reversed elements of \a a*/
+template<typename Packet> inline Packet preverse(const Packet& a)
+{ return a; }
+
+
+/** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
+template<typename Packet> inline Packet pcplxflip(const Packet& a)
+{ return Packet(imag(a),real(a)); }
+
+/**************************
+* Special math functions
+***************************/
+
+/** \internal \returns the sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psin(const Packet& a) { return sin(a); }
+
+/** \internal \returns the cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcos(const Packet& a) { return cos(a); }
+
+/** \internal \returns the tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptan(const Packet& a) { return tan(a); }
+
+/** \internal \returns the arc sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pasin(const Packet& a) { return asin(a); }
+
+/** \internal \returns the arc cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pacos(const Packet& a) { return acos(a); }
+
+/** \internal \returns the exp of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pexp(const Packet& a) { return exp(a); }
+
+/** \internal \returns the log of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog(const Packet& a) { return log(a); }
+
+/** \internal \returns the square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psqrt(const Packet& a) { return sqrt(a); }
+
+/***************************************************************************
+* The following functions might not have to be overwritten for vectorized types
+***************************************************************************/
+
+/** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */
+// NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type)
+template<typename Packet>
+inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename unpacket_traits<Packet>::type& a)
+{
+  pstore(to, pset1<Packet>(a));
+}
+
+/** \internal \returns a * b + c (coeff-wise) */
+template<typename Packet> inline Packet
+pmadd(const Packet&  a,
+         const Packet&  b,
+         const Packet&  c)
+{ return padd(pmul(a, b),c); }
+
+/** \internal \returns a packet version of \a *from.
+  * If LoadMode equals #Aligned, \a from must be 16 bytes aligned */
+template<typename Packet, int LoadMode>
+inline Packet ploadt(const typename unpacket_traits<Packet>::type* from)
+{
+  if(LoadMode == Aligned)
+    return pload<Packet>(from);
+  else
+    return ploadu<Packet>(from);
+}
+
+/** \internal copy the packet \a from to \a *to.
+  * If StoreMode equals #Aligned, \a to must be 16 bytes aligned */
+template<typename Scalar, typename Packet, int LoadMode>
+inline void pstoret(Scalar* to, const Packet& from)
+{
+  if(LoadMode == Aligned)
+    pstore(to, from);
+  else
+    pstoreu(to, from);
+}
+
+/** \internal default implementation of palign() allowing partial specialization */
+template<int Offset,typename PacketType>
+struct palign_impl
+{
+  // by default data are aligned, so there is nothing to be done :)
+  inline static void run(PacketType&, const PacketType&) {}
+};
+
+/** \internal update \a first using the concatenation of the \a Offset last elements
+  * of \a first and packet_size minus \a Offset first elements of \a second */
+template<int Offset,typename PacketType>
+inline void palign(PacketType& first, const PacketType& second)
+{
+  palign_impl<Offset,PacketType>::run(first,second);
+}
+
+/***************************************************************************
+* Fast complex products (GCC generates a function call which is very slow)
+***************************************************************************/
+
+template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
+{ return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
+{ return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+} // end namespace internal
+
+#endif // EIGEN_GENERIC_PACKET_MATH_H
+
diff --git a/extern/Eigen3/Eigen/src/Core/GlobalFunctions.h b/extern/Eigen3/Eigen/src/Core/GlobalFunctions.h
new file mode 100644
index 00000000000..144145a955c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/GlobalFunctions.h
@@ -0,0 +1,95 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GLOBAL_FUNCTIONS_H
+#define EIGEN_GLOBAL_FUNCTIONS_H
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(NAME,FUNCTOR) \
+  template<typename Derived> \
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+  NAME(const Eigen::ArrayBase<Derived>& x) { \
+    return x.derived(); \
+  }
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
+  \
+  template<typename Derived> \
+  struct NAME##_retval<ArrayBase<Derived> > \
+  { \
+    typedef const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> type; \
+  }; \
+  template<typename Derived> \
+  struct NAME##_impl<ArrayBase<Derived> > \
+  { \
+    static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
+    { \
+      return x.derived(); \
+    } \
+  };
+
+
+namespace std
+{
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(real,scalar_real_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(imag,scalar_imag_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(sin,scalar_sin_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(cos,scalar_cos_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(asin,scalar_asin_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(acos,scalar_acos_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(tan,scalar_tan_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(exp,scalar_exp_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(log,scalar_log_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(abs,scalar_abs_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(sqrt,scalar_sqrt_op)
+
+  template<typename Derived>
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar>, const Derived>
+  pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) { \
+    return x.derived().pow(exponent); \
+  }
+}
+
+namespace Eigen
+{
+  namespace internal
+  {
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(sin,scalar_sin_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(cos,scalar_cos_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(asin,scalar_asin_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(acos,scalar_acos_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(tan,scalar_tan_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(exp,scalar_exp_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(log,scalar_log_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs,scalar_abs_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(sqrt,scalar_sqrt_op)
+  }
+}
+
+// TODO: cleanly disable those functions that are not supported on Array (internal::real_ref, internal::random, internal::isApprox...)
+
+#endif // EIGEN_GLOBAL_FUNCTIONS_H
diff --git a/extern/Eigen2/Eigen/src/Core/IO.h b/extern/Eigen3/Eigen/src/Core/IO.h
index 2b00d5bc509..f3cfcdbf4a3 100644
--- a/extern/Eigen2/Eigen/src/Core/IO.h
+++ b/extern/Eigen3/Eigen/src/Core/IO.h
@@ -1,8 +1,8 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -26,15 +26,28 @@
 #ifndef EIGEN_IO_H
 #define EIGEN_IO_H
 
-enum { Raw, AlignCols };
+enum { DontAlignCols = 1 };
+enum { StreamPrecision = -1,
+       FullPrecision = -2 };
+
+namespace internal {
+template<typename Derived>
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt);
+}
 
 /** \class IOFormat
+  * \ingroup Core_Module
   *
   * \brief Stores a set of parameters controlling the way matrices are printed
   *
   * List of available parameters:
-  *  - \b precision number of digits for floating point values
-  *  - \b flags can be either Raw (default) or AlignCols which aligns all the columns
+  *  - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision.
+  *                 The default is the special value \c StreamPrecision which means to use the
+  *                 stream's own precision setting, as set for instance using \c cout.precision(3). The other special value
+  *                 \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point
+  *                 type.
+  *  - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which
+  *             allows to disable the alignment of columns, resulting in faster code.
   *  - \b coeffSeparator string printed between two coefficients of the same row
   *  - \b rowSeparator string printed between two rows
   *  - \b rowPrefix string printed at the beginning of each row
@@ -45,12 +58,12 @@ enum { Raw, AlignCols };
   * Example: \include IOFormat.cpp
   * Output: \verbinclude IOFormat.out
   *
-  * \sa MatrixBase::format(), class WithFormat
+  * \sa DenseBase::format(), class WithFormat
   */
 struct IOFormat
 {
   /** Default contructor, see class IOFormat for the meaning of the parameters */
-  IOFormat(int _precision=4, int _flags=Raw,
+  IOFormat(int _precision = StreamPrecision, int _flags = 0,
     const std::string& _coeffSeparator = " ",
     const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
     const std::string& _matPrefix="", const std::string& _matSuffix="")
@@ -73,18 +86,19 @@ struct IOFormat
 };
 
 /** \class WithFormat
+  * \ingroup Core_Module
   *
   * \brief Pseudo expression providing matrix output with given format
   *
   * \param ExpressionType the type of the object on which IO stream operations are performed
   *
   * This class represents an expression with stream operators controlled by a given IOFormat.
-  * It is the return type of MatrixBase::format()
+  * It is the return type of DenseBase::format()
   * and most of the time this is the only way it is used.
   *
   * See class IOFormat for some examples.
   *
-  * \sa MatrixBase::format(), class IOFormat
+  * \sa DenseBase::format(), class IOFormat
   */
 template<typename ExpressionType>
 class WithFormat
@@ -97,7 +111,7 @@ class WithFormat
 
     friend std::ostream & operator << (std::ostream & s, const WithFormat& wf)
     {
-      return ei_print_matrix(s, wf.m_matrix.eval(), wf.m_format);
+      return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format);
     }
 
   protected:
@@ -114,41 +128,100 @@ class WithFormat
   */
 template<typename Derived>
 inline const WithFormat<Derived>
-MatrixBase<Derived>::format(const IOFormat& fmt) const
+DenseBase<Derived>::format(const IOFormat& fmt) const
 {
   return WithFormat<Derived>(derived(), fmt);
 }
 
+namespace internal {
+
+template<typename Scalar, bool IsInteger>
+struct significant_decimals_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline int run()
+  {
+    using std::ceil;
+    return cast<RealScalar,int>(ceil(-log(NumTraits<RealScalar>::epsilon())/log(RealScalar(10))));
+  }
+};
+
+template<typename Scalar>
+struct significant_decimals_default_impl<Scalar, true>
+{
+  static inline int run()
+  {
+    return 0;
+  }
+};
+
+template<typename Scalar>
+struct significant_decimals_impl
+  : significant_decimals_default_impl<Scalar, NumTraits<Scalar>::IsInteger>
+{};
+
 /** \internal
   * print the matrix \a _m to the output stream \a s using the output format \a fmt */
 template<typename Derived>
-std::ostream & ei_print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
 {
+  if(_m.size() == 0)
+  {
+    s << fmt.matPrefix << fmt.matSuffix;
+    return s;
+  }
+  
   const typename Derived::Nested m = _m;
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Index Index;
 
-  int width = 0;
-  if (fmt.flags & AlignCols)
+  Index width = 0;
+
+  std::streamsize explicit_precision;
+  if(fmt.precision == StreamPrecision)
+  {
+    explicit_precision = 0;
+  }
+  else if(fmt.precision == FullPrecision)
+  {
+    if (NumTraits<Scalar>::IsInteger)
+    {
+      explicit_precision = 0;
+    }
+    else
+    {
+      explicit_precision = significant_decimals_impl<Scalar>::run();
+    }
+  }
+  else
+  {
+    explicit_precision = fmt.precision;
+  }
+
+  bool align_cols = !(fmt.flags & DontAlignCols);
+  if(align_cols)
   {
     // compute the largest width
-    for(int j = 1; j < m.cols(); ++j)
-      for(int i = 0; i < m.rows(); ++i)
+    for(Index j = 1; j < m.cols(); ++j)
+      for(Index i = 0; i < m.rows(); ++i)
       {
         std::stringstream sstr;
-        sstr.precision(fmt.precision);
+        if(explicit_precision) sstr.precision(explicit_precision);
         sstr << m.coeff(i,j);
-        width = std::max<int>(width, int(sstr.str().length()));
+        width = std::max<Index>(width, Index(sstr.str().length()));
       }
   }
-  s.precision(fmt.precision);
+  std::streamsize old_precision = 0;
+  if(explicit_precision) old_precision = s.precision(explicit_precision);
   s << fmt.matPrefix;
-  for(int i = 0; i < m.rows(); ++i)
+  for(Index i = 0; i < m.rows(); ++i)
   {
     if (i)
       s << fmt.rowSpacer;
     s << fmt.rowPrefix;
     if(width) s.width(width);
     s << m.coeff(i, 0);
-    for(int j = 1; j < m.cols(); ++j)
+    for(Index j = 1; j < m.cols(); ++j)
     {
       s << fmt.coeffSeparator;
       if (width) s.width(width);
@@ -159,26 +232,29 @@ std::ostream & ei_print_matrix(std::ostream & s, const Derived& _m, const IOForm
       s << fmt.rowSeparator;
   }
   s << fmt.matSuffix;
+  if(explicit_precision) s.precision(old_precision);
   return s;
 }
 
-/** \relates MatrixBase
+} // end namespace internal
+
+/** \relates DenseBase
   *
   * Outputs the matrix, to the given stream.
   *
-  * If you wish to print the matrix with a format different than the default, use MatrixBase::format().
+  * If you wish to print the matrix with a format different than the default, use DenseBase::format().
   *
   * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers.
   * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters.
   *
-  * \sa MatrixBase::format()
+  * \sa DenseBase::format()
   */
 template<typename Derived>
 std::ostream & operator <<
 (std::ostream & s,
- const MatrixBase<Derived> & m)
+ const DenseBase<Derived> & m)
 {
-  return ei_print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
+  return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
 }
 
 #endif // EIGEN_IO_H
diff --git a/extern/Eigen3/Eigen/src/Core/Map.h b/extern/Eigen3/Eigen/src/Core/Map.h
new file mode 100644
index 00000000000..dd0673609c5
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Map.h
@@ -0,0 +1,205 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MAP_H
+#define EIGEN_MAP_H
+
+/** \class Map
+  * \ingroup Core_Module
+  *
+  * \brief A matrix or vector expression mapping an existing array of data.
+  *
+  * \tparam PlainObjectType the equivalent matrix type of the mapped data
+  * \tparam MapOptions specifies whether the pointer is \c #Aligned, or \c #Unaligned.
+  *                The default is \c #Unaligned.
+  * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
+  *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
+  *                   The type passed here must be a specialization of the Stride template, see examples below.
+  *
+  * This class represents a matrix or vector expression mapping an existing array of data.
+  * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
+  * such as plain C arrays or structures from other libraries. By default, it assumes that the
+  * data is laid out contiguously in memory. You can however override this by explicitly specifying
+  * inner and outer strides.
+  *
+  * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix:
+  * \include Map_simple.cpp
+  * Output: \verbinclude Map_simple.out
+  *
+  * If you need to map non-contiguous arrays, you can do so by specifying strides:
+  *
+  * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer
+  * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time
+  * fixed value.
+  * \include Map_inner_stride.cpp
+  * Output: \verbinclude Map_inner_stride.out
+  *
+  * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping
+  * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns.
+  * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is
+  * a short version of \c OuterStride<Dynamic> because the default template parameter of OuterStride
+  * is  \c Dynamic
+  * \include Map_outer_stride.cpp
+  * Output: \verbinclude Map_outer_stride.out
+  *
+  * For more details and for an example of specifying both an inner and an outer stride, see class Stride.
+  *
+  * \b Tip: to change the array of data mapped by a Map object, you can use the C++
+  * placement new syntax:
+  *
+  * Example: \include Map_placement_new.cpp
+  * Output: \verbinclude Map_placement_new.out
+  *
+  * This class is the return type of PlainObjectBase::Map() but can also be used directly.
+  *
+  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
+  */
+
+namespace internal {
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct traits<Map<PlainObjectType, MapOptions, StrideType> >
+  : public traits<PlainObjectType>
+{
+  typedef traits<PlainObjectType> TraitsBase;
+  typedef typename PlainObjectType::Index Index;
+  typedef typename PlainObjectType::Scalar Scalar;
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    HasNoInnerStride = InnerStrideAtCompileTime == 1,
+    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
+    HasNoStride = HasNoInnerStride && HasNoOuterStride,
+    IsAligned = bool(EIGEN_ALIGN) && ((int(MapOptions)&Aligned)==Aligned),
+    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
+    KeepsPacketAccess = bool(HasNoInnerStride)
+                        && ( bool(IsDynamicSize)
+                           || HasNoOuterStride
+                           || ( OuterStrideAtCompileTime!=Dynamic
+                           && ((static_cast<int>(sizeof(Scalar))*OuterStrideAtCompileTime)%16)==0 ) ),
+    Flags0 = TraitsBase::Flags,
+    Flags1 = IsAligned ? (int(Flags0) | AlignedBit) : (int(Flags0) & ~AlignedBit),
+    Flags2 = (bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime))
+           ? int(Flags1) : int(Flags1 & ~LinearAccessBit),
+    Flags3 = is_lvalue<PlainObjectType>::value ? int(Flags2) : (int(Flags2) & ~LvalueBit),
+    Flags = KeepsPacketAccess ? int(Flags3) : (int(Flags3) & ~PacketAccessBit)
+  };
+private:
+  enum { Options }; // Expressions don't have Options
+};
+}
+
+template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
+  : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
+{
+  public:
+
+    typedef MapBase<Map> Base;
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Map)
+
+    typedef typename Base::PointerType PointerType;
+#if EIGEN2_SUPPORT_STAGE <= STAGE30_FULL_EIGEN3_API
+    typedef const Scalar* PointerArgType;
+    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return const_cast<PointerType>(ptr); }
+#else
+    typedef PointerType PointerArgType;
+    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
+#endif
+
+    inline Index innerStride() const
+    {
+      return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
+    }
+
+    inline Index outerStride() const
+    {
+      return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
+           : IsVectorAtCompileTime ? this->size()
+           : int(Flags)&RowMajorBit ? this->cols()
+           : this->rows();
+    }
+
+    /** Constructor in the fixed-size case.
+      *
+      * \param data pointer to the array to map
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data)), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+    /** Constructor in the dynamic-size vector case.
+      *
+      * \param data pointer to the array to map
+      * \param size the size of the vector expression
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, Index size, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data), size), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+    /** Constructor in the dynamic-size matrix case.
+      *
+      * \param data pointer to the array to map
+      * \param rows the number of rows of the matrix expression
+      * \param cols the number of columns of the matrix expression
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, Index rows, Index cols, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data), rows, cols), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
+
+  protected:
+    StrideType m_stride;
+};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+inline Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
+  ::Array(const Scalar *data)
+{
+  this->_set_noalias(Eigen::Map<const Array>(data));
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+inline Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
+  ::Matrix(const Scalar *data)
+{
+  this->_set_noalias(Eigen::Map<const Matrix>(data));
+}
+
+#endif // EIGEN_MAP_H
diff --git a/extern/Eigen3/Eigen/src/Core/MapBase.h b/extern/Eigen3/Eigen/src/Core/MapBase.h
new file mode 100644
index 00000000000..c23bcbfdcca
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/MapBase.h
@@ -0,0 +1,255 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MAPBASE_H
+#define EIGEN_MAPBASE_H
+
+#define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
+      EIGEN_STATIC_ASSERT((int(internal::traits<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
+                          YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
+
+
+/** \class MapBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for Map and Block expression with direct access
+  *
+  * \sa class Map, class Block
+  */
+template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
+  : public internal::dense_xpr_base<Derived>::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Derived>::type Base;
+    enum {
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      SizeAtCompileTime = Base::SizeAtCompileTime
+    };
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         Scalar *,
+                         const Scalar *>::type
+                     PointerType;
+
+    using Base::derived;
+//    using Base::RowsAtCompileTime;
+//    using Base::ColsAtCompileTime;
+//    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::IsRowMajor;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::eval;
+
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+
+    // bug 217 - compile error on ICC 11.1
+    using Base::operator=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+    inline Index rows() const { return m_rows.value(); }
+    inline Index cols() const { return m_cols.value(); }
+
+    /** Returns a pointer to the first coefficient of the matrix or vector.
+      *
+      * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride().
+      *
+      * \sa innerStride(), outerStride()
+      */
+    inline const Scalar* data() const { return m_data; }
+
+    inline const Scalar& coeff(Index row, Index col) const
+    {
+      return m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline const Scalar& coeff(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return m_data[index * innerStride()];
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return this->m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return this->m_data[index * innerStride()];
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>
+               (m_data + (col * colStride() + row * rowStride()));
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
+    }
+
+    inline MapBase(PointerType data) : m_data(data), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
+    {
+      EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+      checkSanity();
+    }
+
+    inline MapBase(PointerType data, Index size)
+            : m_data(data),
+              m_rows(RowsAtCompileTime == Dynamic ? size : Index(RowsAtCompileTime)),
+              m_cols(ColsAtCompileTime == Dynamic ? size : Index(ColsAtCompileTime))
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+      eigen_assert(size >= 0);
+      eigen_assert(data == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
+      checkSanity();
+    }
+
+    inline MapBase(PointerType data, Index rows, Index cols)
+            : m_data(data), m_rows(rows), m_cols(cols)
+    {
+      eigen_assert( (data == 0)
+              || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+                  && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+      checkSanity();
+    }
+
+  protected:
+
+    void checkSanity() const
+    {
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
+                                        internal::inner_stride_at_compile_time<Derived>::ret==1),
+                          PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
+      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % (sizeof(Scalar)*internal::packet_traits<Scalar>::size)) == 0)
+        && "data is not aligned");
+    }
+
+    PointerType m_data;
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
+};
+
+template<typename Derived> class MapBase<Derived, WriteAccessors>
+  : public MapBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef MapBase<Derived, ReadOnlyAccessors> Base;
+
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::PacketScalar PacketScalar;
+    typedef typename Base::Index Index;
+    typedef typename Base::PointerType PointerType;
+
+    using Base::derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+
+    typedef typename internal::conditional<
+                    internal::is_lvalue<Derived>::value,
+                    Scalar,
+                    const Scalar
+                  >::type ScalarWithConstIfNotLvalue;
+
+    inline const Scalar* data() const { return this->m_data; }
+    inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
+    {
+      return this->m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return this->m_data[index * innerStride()];
+    }
+
+    template<int StoreMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+               (this->m_data + (col * colStride() + row * rowStride()), x);
+    }
+
+    template<int StoreMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+                (this->m_data + index * innerStride(), x);
+    }
+
+    explicit inline MapBase(PointerType data) : Base(data) {}
+    inline MapBase(PointerType data, Index size) : Base(data, size) {}
+    inline MapBase(PointerType data, Index rows, Index cols) : Base(data, rows, cols) {}
+
+    Derived& operator=(const MapBase& other)
+    {
+      Base::Base::operator=(other);
+      return derived();
+    }
+
+    using Base::Base::operator=;
+};
+
+
+#endif // EIGEN_MAPBASE_H
diff --git a/extern/Eigen3/Eigen/src/Core/MathFunctions.h b/extern/Eigen3/Eigen/src/Core/MathFunctions.h
new file mode 100644
index 00000000000..2b454db21e9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/MathFunctions.h
@@ -0,0 +1,843 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATHFUNCTIONS_H
+#define EIGEN_MATHFUNCTIONS_H
+
+namespace internal {
+
+/** \internal \struct global_math_functions_filtering_base
+  *
+  * What it does:
+  * Defines a typedef 'type' as follows:
+  * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then
+  *   global_math_functions_filtering_base<T>::type is a typedef for it.
+  * - otherwise, global_math_functions_filtering_base<T>::type is a typedef for T.
+  *
+  * How it's used:
+  * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions.
+  * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know
+  * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase<Derived>.
+  * So we must make sure to use sin_impl<ArrayBase<Derived> > and not sin_impl<Derived>, otherwise our partial specialization
+  * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it.
+  *
+  * How it's implemented:
+  * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace
+  * the typename dummy by an integer template parameter, it doesn't work anymore!
+  */
+
+template<typename T, typename dummy = void>
+struct global_math_functions_filtering_base
+{
+  typedef T type;
+};
+
+template<typename T> struct always_void { typedef void type; };
+
+template<typename T>
+struct global_math_functions_filtering_base
+  <T,
+   typename always_void<typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl>::type
+  >
+{
+  typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type;
+};
+
+#define EIGEN_MATHFUNC_IMPL(func, scalar) func##_impl<typename global_math_functions_filtering_base<scalar>::type>
+#define EIGEN_MATHFUNC_RETVAL(func, scalar) typename func##_retval<typename global_math_functions_filtering_base<scalar>::type>::type
+
+
+/****************************************************************************
+* Implementation of real                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct real_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return x;
+  }
+};
+
+template<typename RealScalar>
+struct real_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    using std::real;
+    return real(x);
+  }
+};
+
+template<typename Scalar>
+struct real_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of imag                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct imag_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar&)
+  {
+    return RealScalar(0);
+  }
+};
+
+template<typename RealScalar>
+struct imag_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    using std::imag;
+    return imag(x);
+  }
+};
+
+template<typename Scalar>
+struct imag_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of real_ref                                             *
+****************************************************************************/
+
+template<typename Scalar>
+struct real_ref_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar& run(Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[0];
+  }
+  static inline const RealScalar& run(const Scalar& x)
+  {
+    return reinterpret_cast<const RealScalar*>(&x)[0];
+  }
+};
+
+template<typename Scalar>
+struct real_ref_retval
+{
+  typedef typename NumTraits<Scalar>::Real & type;
+};
+
+template<typename Scalar>
+inline typename add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
+{
+  return real_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of imag_ref                                             *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct imag_ref_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar& run(Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[1];
+  }
+  static inline const RealScalar& run(const Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[1];
+  }
+};
+
+template<typename Scalar>
+struct imag_ref_default_impl<Scalar, false>
+{
+  static inline Scalar run(Scalar&)
+  {
+    return Scalar(0);
+  }
+  static inline const Scalar run(const Scalar&)
+  {
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct imag_ref_impl : imag_ref_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct imag_ref_retval
+{
+  typedef typename NumTraits<Scalar>::Real & type;
+};
+
+template<typename Scalar>
+inline typename add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
+{
+  return imag_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of conj                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct conj_impl
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    return x;
+  }
+};
+
+template<typename RealScalar>
+struct conj_impl<std::complex<RealScalar> >
+{
+  static inline std::complex<RealScalar> run(const std::complex<RealScalar>& x)
+  {
+    using std::conj;
+    return conj(x);
+  }
+};
+
+template<typename Scalar>
+struct conj_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of abs                                                  *
+****************************************************************************/
+
+template<typename Scalar>
+struct abs_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    using std::abs;
+    return abs(x);
+  }
+};
+
+template<typename Scalar>
+struct abs_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(abs, Scalar) abs(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(abs, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of abs2                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct abs2_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return x*x;
+  }
+};
+
+template<typename RealScalar>
+struct abs2_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    using std::norm;
+    return norm(x);
+  }
+};
+
+template<typename Scalar>
+struct abs2_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of norm1                                                *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct norm1_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return abs(real(x)) + abs(imag(x));
+  }
+};
+
+template<typename Scalar>
+struct norm1_default_impl<Scalar, false>
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    return abs(x);
+  }
+};
+
+template<typename Scalar>
+struct norm1_impl : norm1_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct norm1_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of hypot                                                *
+****************************************************************************/
+
+template<typename Scalar>
+struct hypot_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x, const Scalar& y)
+  {
+    using std::max;
+    using std::min;
+    RealScalar _x = abs(x);
+    RealScalar _y = abs(y);
+    RealScalar p = (max)(_x, _y);
+    RealScalar q = (min)(_x, _y);
+    RealScalar qp = q/p;
+    return p * sqrt(RealScalar(1) + qp*qp);
+  }
+};
+
+template<typename Scalar>
+struct hypot_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of cast                                                 *
+****************************************************************************/
+
+template<typename OldType, typename NewType>
+struct cast_impl
+{
+  static inline NewType run(const OldType& x)
+  {
+    return static_cast<NewType>(x);
+  }
+};
+
+// here, for once, we're plainly returning NewType: we don't want cast to do weird things.
+
+template<typename OldType, typename NewType>
+inline NewType cast(const OldType& x)
+{
+  return cast_impl<OldType, NewType>::run(x);
+}
+
+/****************************************************************************
+* Implementation of sqrt                                                 *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct sqrt_default_impl
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    using std::sqrt;
+    return sqrt(x);
+  }
+};
+
+template<typename Scalar>
+struct sqrt_default_impl<Scalar, true>
+{
+  static inline Scalar run(const Scalar&)
+  {
+#ifdef EIGEN2_SUPPORT
+    eigen_assert(!NumTraits<Scalar>::IsInteger);
+#else
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+#endif
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct sqrt_impl : sqrt_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct sqrt_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(sqrt, Scalar) sqrt(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(sqrt, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of standard unary real functions (exp, log, sin, cos, ...  *
+****************************************************************************/
+
+// This macro instanciate all the necessary template mechanism which is common to all unary real functions.
+#define EIGEN_MATHFUNC_STANDARD_REAL_UNARY(NAME) \
+  template<typename Scalar, bool IsInteger> struct NAME##_default_impl {            \
+    static inline Scalar run(const Scalar& x) { using std::NAME; return NAME(x); }  \
+  };                                                                                \
+  template<typename Scalar> struct NAME##_default_impl<Scalar, true> {              \
+    static inline Scalar run(const Scalar&) {                                       \
+      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)                                       \
+      return Scalar(0);                                                             \
+    }                                                                               \
+  };                                                                                \
+  template<typename Scalar> struct NAME##_impl                                      \
+    : NAME##_default_impl<Scalar, NumTraits<Scalar>::IsInteger>                     \
+  {};                                                                               \
+  template<typename Scalar> struct NAME##_retval { typedef Scalar type; };          \
+  template<typename Scalar>                                                         \
+  inline EIGEN_MATHFUNC_RETVAL(NAME, Scalar) NAME(const Scalar& x) {                \
+    return EIGEN_MATHFUNC_IMPL(NAME, Scalar)::run(x);                               \
+  }
+
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(exp)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(log)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(sin)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(cos)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(tan)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(asin)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(acos)
+
+/****************************************************************************
+* Implementation of atan2                                                *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct atan2_default_impl
+{
+  typedef Scalar retval;
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    using std::atan2;
+    return atan2(x, y);
+  }
+};
+
+template<typename Scalar>
+struct atan2_default_impl<Scalar, true>
+{
+  static inline Scalar run(const Scalar&, const Scalar&)
+  {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct atan2_impl : atan2_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct atan2_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(atan2, Scalar) atan2(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(atan2, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of pow                                                  *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct pow_default_impl
+{
+  typedef Scalar retval;
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    using std::pow;
+    return pow(x, y);
+  }
+};
+
+template<typename Scalar>
+struct pow_default_impl<Scalar, true>
+{
+  static inline Scalar run(Scalar x, Scalar y)
+  {
+    Scalar res = 1;
+    eigen_assert(!NumTraits<Scalar>::IsSigned || y >= 0);
+    if(y & 1) res *= x;
+    y >>= 1;
+    while(y)
+    {
+      x *= x;
+      if(y&1) res *= x;
+      y >>= 1;
+    }
+    return res;
+  }
+};
+
+template<typename Scalar>
+struct pow_impl : pow_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct pow_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(pow, Scalar) pow(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(pow, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of random                                               *
+****************************************************************************/
+
+template<typename Scalar,
+         bool IsComplex,
+         bool IsInteger>
+struct random_default_impl {};
+
+template<typename Scalar>
+struct random_impl : random_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct random_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y);
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random();
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, false>
+{
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX);
+  }
+  static inline Scalar run()
+  {
+    return run(Scalar(NumTraits<Scalar>::IsSigned ? -1 : 0), Scalar(1));
+  }
+};
+
+enum {
+  floor_log2_terminate,
+  floor_log2_move_up,
+  floor_log2_move_down,
+  floor_log2_bogus
+};
+
+template<unsigned int n, int lower, int upper> struct floor_log2_selector
+{
+  enum { middle = (lower + upper) / 2,
+         value = (upper <= lower + 1) ? int(floor_log2_terminate)
+               : (n < (1 << middle)) ? int(floor_log2_move_down)
+               : (n==0) ? int(floor_log2_bogus)
+               : int(floor_log2_move_up)
+  };
+};
+
+template<unsigned int n,
+         int lower = 0,
+         int upper = sizeof(unsigned int) * CHAR_BIT - 1,
+         int selector = floor_log2_selector<n, lower, upper>::value>
+struct floor_log2 {};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_move_down>
+{
+  enum { value = floor_log2<n, lower, floor_log2_selector<n, lower, upper>::middle>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_move_up>
+{
+  enum { value = floor_log2<n, floor_log2_selector<n, lower, upper>::middle, upper>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_terminate>
+{
+  enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_bogus>
+{
+  // no value, error at compile time
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, true>
+{
+  typedef typename NumTraits<Scalar>::NonInteger NonInteger;
+
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return x + Scalar((NonInteger(y)-x+1) * std::rand() / (RAND_MAX + NonInteger(1)));
+  }
+
+  static inline Scalar run()
+  {
+#ifdef EIGEN_MAKING_DOCS
+    return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
+#else
+    enum { rand_bits = floor_log2<(unsigned int)(RAND_MAX)+1>::value,
+           scalar_bits = sizeof(Scalar) * CHAR_BIT,
+           shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits))
+    };
+    Scalar x = Scalar(std::rand() >> shift);
+    Scalar offset = NumTraits<Scalar>::IsSigned ? Scalar(1 << (rand_bits-1)) : Scalar(0);
+    return x - offset;
+#endif
+  }
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, true, false>
+{
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return Scalar(random(real(x), real(y)),
+                  random(imag(x), imag(y)));
+  }
+  static inline Scalar run()
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    return Scalar(random<RealScalar>(), random<RealScalar>());
+  }
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
+{
+  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
+}
+
+/****************************************************************************
+* Implementation of fuzzy comparisons                                       *
+****************************************************************************/
+
+template<typename Scalar,
+         bool IsComplex,
+         bool IsInteger>
+struct scalar_fuzzy_default_impl {};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, false>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+  {
+    return abs(x) <= abs(y) * prec;
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    using std::min;
+    return abs(x - y) <= (min)(abs(x), abs(y)) * prec;
+  }
+  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    return x <= y || isApprox(x, y, prec);
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, true>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
+  {
+    return x == Scalar(0);
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
+  {
+    return x == y;
+  }
+  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
+  {
+    return x <= y;
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, true, false>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+  {
+    return abs2(x) <= abs2(y) * prec * prec;
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    using std::min;
+    return abs2(x - y) <= (min)(abs2(x), abs2(y)) * prec * prec;
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar, typename OtherScalar>
+inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
+                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool isApprox(const Scalar& x, const Scalar& y,
+                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
+                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::isApproxOrLessThan(x, y, precision);
+}
+
+/******************************************
+***  The special case of the  bool type ***
+******************************************/
+
+template<> struct random_impl<bool>
+{
+  static inline bool run()
+  {
+    return random<int>(0,1)==0 ? false : true;
+  }
+};
+
+template<> struct scalar_fuzzy_impl<bool>
+{
+  typedef bool RealScalar;
+  
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
+  {
+    return !x;
+  }
+  
+  static inline bool isApprox(bool x, bool y, bool)
+  {
+    return x == y;
+  }
+
+  static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
+  {
+    return (!x) || y;
+  }
+  
+};
+
+} // end namespace internal
+
+#endif // EIGEN_MATHFUNCTIONS_H
diff --git a/extern/Eigen3/Eigen/src/Core/Matrix.h b/extern/Eigen3/Eigen/src/Core/Matrix.h
new file mode 100644
index 00000000000..44de22cb4d5
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Matrix.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIX_H
+#define EIGEN_MATRIX_H
+
+/** \class Matrix
+  * \ingroup Core_Module
+  *
+  * \brief The matrix class, also used for vectors and row-vectors
+  *
+  * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen.
+  * Vectors are matrices with one column, and row-vectors are matrices with one row.
+  *
+  * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
+  *
+  * The first three template parameters are required:
+  * \tparam _Scalar \anchor matrix_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>.
+  *                 User defined sclar types are supported as well (see \ref user_defined_scalars "here").
+  * \tparam _Rows Number of rows, or \b Dynamic
+  * \tparam _Cols Number of columns, or \b Dynamic
+  *
+  * The remaining template parameters are optional -- in most cases you don't have to worry about them.
+  * \tparam _Options \anchor matrix_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either
+  *                 \b #AutoAlign or \b #DontAlign.
+  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
+  *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
+  * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note").
+  * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note").
+  *
+  * Eigen provides a number of typedefs covering the usual cases. Here are some examples:
+  *
+  * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>)
+  * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>)
+  * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>)
+  *
+  * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
+  * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
+  *
+  * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>)
+  * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>)
+  *
+  * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
+  *
+  * You can access elements of vectors and matrices using normal subscripting:
+  *
+  * \code
+  * Eigen::VectorXd v(10);
+  * v[0] = 0.1;
+  * v[1] = 0.2;
+  * v(0) = 0.3;
+  * v(1) = 0.4;
+  *
+  * Eigen::MatrixXi m(10, 10);
+  * m(0, 1) = 1;
+  * m(0, 2) = 2;
+  * m(0, 3) = 3;
+  * \endcode
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
+  *
+  * <i><b>Some notes:</b></i>
+  *
+  * <dl>
+  * <dt><b>\anchor dense Dense versus sparse:</b></dt>
+  * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module.
+  *
+  * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array.
+  * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd>
+  *
+  * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt>
+  * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array
+  * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up
+  * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time.
+  *
+  * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime
+  * variables, and the array of coefficients is allocated dynamically on the heap.
+  *
+  * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map.
+  * If you want this behavior, see the Sparse module.</dd>
+  *
+  * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt>
+  * <dd>In most cases, one just leaves these parameters to the default values.
+  * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases
+  * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot
+  * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols
+  * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
+  * </dl>
+  *
+  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, 
+  * \ref TopicStorageOrders 
+  */
+
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _MaxRows,
+    MaxColsAtCompileTime = _MaxCols,
+    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Options = _Options,
+    InnerStrideAtCompileTime = 1,
+    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime
+  };
+};
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Matrix
+  : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  public:
+
+    /** \brief Base class typedef.
+      * \sa PlainObjectBase
+      */
+    typedef PlainObjectBase<Matrix> Base;
+
+    enum { Options = _Options };
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Matrix)
+
+    typedef typename Base::PlainObject PlainObject;
+
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    using Base::base;
+    using Base::coeffRef;
+
+    /**
+      * \brief Assigns matrices to each other.
+      *
+      * \note This is a special case of the templated operator=. Its purpose is
+      * to prevent a default operator= from hiding the templated operator=.
+      *
+      * \callgraph
+      */
+    EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** \internal
+      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other)
+    {
+      return Base::_set(other);
+    }
+
+    /* Here, doxygen failed to copy the brief information when using \copydoc */
+
+    /**
+      * \brief Copies the generic expression \a other into *this.
+      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
+    {
+      return Base::operator=(other);
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
+    {
+      return Base::operator=(func);
+    }
+
+    /** \brief Default constructor.
+      *
+      * For fixed-size matrices, does nothing.
+      *
+      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+      * a matrix to 0 is not supported.
+      *
+      * \sa resize(Index,Index)
+      */
+    EIGEN_STRONG_INLINE explicit Matrix() : Base()
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    // FIXME is it still needed
+    Matrix(internal::constructor_without_unaligned_array_assert)
+      : Base(internal::constructor_without_unaligned_array_assert())
+    { Base::_check_template_params(); EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED }
+
+    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Matrix() instead.
+      */
+    EIGEN_STRONG_INLINE explicit Matrix(Index dim)
+      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
+      eigen_assert(dim >= 0);
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
+    {
+      Base::_check_template_params();
+      Base::template _init2<T0,T1>(x, y);
+    }
+    #else
+    /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead. */
+    Matrix(Index rows, Index cols);
+    /** \brief Constructs an initialized 2D vector with given coefficients */
+    Matrix(const Scalar& x, const Scalar& y);
+    #endif
+
+    /** \brief Constructs an initialized 3D vector with given coefficients */
+    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+    }
+    /** \brief Constructs an initialized 4D vector with given coefficients */
+    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+      m_storage.data()[3] = w;
+    }
+
+    explicit Matrix(const Scalar *data);
+
+    /** \brief Constructor copying the value of the expression \a other */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other)
+             : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      // This test resides here, to bring the error messages closer to the user. Normally, these checks
+      // are performed deeply within the library, thus causing long and scary error traces.
+      EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** \brief Copy constructor */
+    EIGEN_STRONG_INLINE Matrix(const Matrix& other)
+            : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const ReturnByValue<OtherDerived>& other)
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      other.evalTo(*this);
+    }
+
+    /** \brief Copy constructor for generic expressions.
+      * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
+      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      // FIXME/CHECK: isn't *this = other.derived() more efficient. it allows to
+      //              go for pure _set() implementations, right?
+      *this = other;
+    }
+
+    /** \internal
+      * \brief Override MatrixBase::swap() since for dynamic-sized matrices
+      * of same type it is enough to swap the data pointers.
+      */
+    template<typename OtherDerived>
+    void swap(MatrixBase<OtherDerived> const & other)
+    { this->_swap(other.derived()); }
+
+    inline Index innerStride() const { return 1; }
+    inline Index outerStride() const { return this->innerSize(); }
+
+    /////////// Geometry module ///////////
+
+    template<typename OtherDerived>
+    explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    template<typename OtherDerived>
+    Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    template<typename OtherDerived>
+    Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    #endif
+
+    // allow to extend Matrix outside Eigen
+    #ifdef EIGEN_MATRIX_PLUGIN
+    #include EIGEN_MATRIX_PLUGIN
+    #endif
+
+  protected:
+    template <typename Derived, typename OtherDerived, bool IsVector>
+    friend struct internal::conservative_resize_like_impl;
+
+    using Base::m_storage;
+};
+
+/** \defgroup matrixtypedefs Global matrix typedefs
+  *
+  * \ingroup Core_Module
+  *
+  * Eigen defines several typedef shortcuts for most common matrix and vector types.
+  *
+  * The general patterns are the following:
+  *
+  * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+  * for complex double.
+  *
+  * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats.
+  *
+  * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is
+  * a fixed-size vector of 4 complex floats.
+  *
+  * \sa class Matrix
+  */
+
+#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_TYPEDEFS
+
+#undef EIGEN_MAKE_TYPEDEFS_LARGE
+
+#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
+using Eigen::Matrix##SizeSuffix##TypeSuffix; \
+using Eigen::Vector##SizeSuffix##TypeSuffix; \
+using Eigen::RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(TypeSuffix) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
+
+#define EIGEN_USING_MATRIX_TYPEDEFS \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(i) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(f) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(d) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cf) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cd)
+
+#endif // EIGEN_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/MatrixBase.h b/extern/Eigen3/Eigen/src/Core/MatrixBase.h
new file mode 100644
index 00000000000..db156f6e9d0
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/MatrixBase.h
@@ -0,0 +1,520 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXBASE_H
+#define EIGEN_MATRIXBASE_H
+
+/** \class MatrixBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all dense matrices, vectors, and expressions
+  *
+  * This class is the base that is inherited by all matrix, vector, and related expression
+  * types. Most of the Eigen API is contained in this class, and its base classes. Other important
+  * classes for the Eigen API are Matrix, and VectorwiseOp.
+  *
+  * Note that some methods are defined in other modules such as the \ref LU_Module LU module
+  * for all functions related to matrix inversions.
+  *
+  * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc.
+  *
+  * When writing a function taking Eigen objects as argument, if you want your function
+  * to take as argument any matrix, vector, or expression, just let it take a
+  * MatrixBase argument. As an example, here is a function printFirstRow which, given
+  * a matrix, vector, or expression \a x, prints the first row of \a x.
+  *
+  * \code
+    template<typename Derived>
+    void printFirstRow(const Eigen::MatrixBase<Derived>& x)
+    {
+      cout << x.row(0) << endl;
+    }
+  * \endcode
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> class MatrixBase
+  : public DenseBase<Derived>
+{
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef MatrixBase StorageBaseType;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseBase<Derived> Base;
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::CoeffReadCost;
+
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::eval;
+    using Base::operator+=;
+    using Base::operator-=;
+    using Base::operator*=;
+    using Base::operator/=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+    typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType;
+    typedef typename Base::RowXpr RowXpr;
+    typedef typename Base::ColXpr ColXpr;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** type of the equivalent square matrix */
+    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
+                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** \returns the size of the main diagonal, which is min(rows(),cols()).
+      * \sa rows(), cols(), SizeAtCompileTime. */
+    inline Index diagonalSize() const { return (std::min)(rows(),cols()); }
+
+    /** \brief The plain matrix type corresponding to this expression.
+      *
+      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
+      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
+      * that the return type of eval() is either PlainObject or const PlainObject&.
+      */
+    typedef Matrix<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainObject;
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    /** \internal the return type of MatrixBase::adjoint() */
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+                        ConstTransposeReturnType
+                     >::type AdjointReturnType;
+    /** \internal Return type of eigenvalues() */
+    typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
+    /** \internal the return type of identity */
+    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,Derived> IdentityReturnType;
+    /** \internal the return type of unit vectors */
+    typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
+                  internal::traits<Derived>::RowsAtCompileTime,
+                  internal::traits<Derived>::ColsAtCompileTime> BasisReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   ifdef EIGEN_MATRIXBASE_PLUGIN
+#     include EIGEN_MATRIXBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const MatrixBase& other);
+
+    // We cannot inherit here via Base::operator= since it is causing
+    // trouble with MSVC.
+
+    template <typename OtherDerived>
+    Derived& operator=(const DenseBase<OtherDerived>& other);
+
+    template <typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& other);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other);
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    template<typename OtherDerived>
+    Derived& operator+=(const MatrixBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const MatrixBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    const typename ProductReturnType<Derived,OtherDerived>::Type
+    operator*(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    const typename LazyProductReturnType<Derived,OtherDerived>::Type
+    lazyProduct(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    Derived& operator*=(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void applyOnTheLeft(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void applyOnTheRight(const EigenBase<OtherDerived>& other);
+
+    template<typename DiagonalDerived>
+    const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+    operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
+
+    template<typename OtherDerived>
+    typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+    dot(const MatrixBase<OtherDerived>& other) const;
+
+    #ifdef EIGEN2_SUPPORT
+      template<typename OtherDerived>
+      Scalar eigen2_dot(const MatrixBase<OtherDerived>& other) const;
+    #endif
+
+    RealScalar squaredNorm() const;
+    RealScalar norm() const;
+    RealScalar stableNorm() const;
+    RealScalar blueNorm() const;
+    RealScalar hypotNorm() const;
+    const PlainObject normalized() const;
+    void normalize();
+
+    const AdjointReturnType adjoint() const;
+    void adjointInPlace();
+
+    typedef Diagonal<Derived> DiagonalReturnType;
+    DiagonalReturnType diagonal();
+    typedef const Diagonal<const Derived> ConstDiagonalReturnType;
+    const ConstDiagonalReturnType diagonal() const;
+
+    template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
+    template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
+
+    template<int Index> typename DiagonalIndexReturnType<Index>::Type diagonal();
+    template<int Index> typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
+
+    // Note: The "MatrixBase::" prefixes are added to help MSVC9 to match these declarations with the later implementations.
+    // On the other hand they confuse MSVC8...
+    #if (defined _MSC_VER) && (_MSC_VER >= 1500) // 2008 or later
+    typename MatrixBase::template DiagonalIndexReturnType<Dynamic>::Type diagonal(Index index);
+    typename MatrixBase::template ConstDiagonalIndexReturnType<Dynamic>::Type diagonal(Index index) const;
+    #else
+    typename DiagonalIndexReturnType<Dynamic>::Type diagonal(Index index);
+    typename ConstDiagonalIndexReturnType<Dynamic>::Type diagonal(Index index) const;
+    #endif
+
+    #ifdef EIGEN2_SUPPORT
+    template<unsigned int Mode> typename internal::eigen2_part_return_type<Derived, Mode>::type part();
+    template<unsigned int Mode> const typename internal::eigen2_part_return_type<Derived, Mode>::type part() const;
+    
+    // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
+    // of an integer constant. Solution: overload the part() method template wrt template parameters list.
+    template<template<typename T, int n> class U>
+    const DiagonalWrapper<ConstDiagonalReturnType> part() const
+    { return diagonal().asDiagonal(); }
+    #endif // EIGEN2_SUPPORT
+
+    template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
+    template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
+
+    template<unsigned int Mode> typename TriangularViewReturnType<Mode>::Type triangularView();
+    template<unsigned int Mode> typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
+
+    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
+    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
+
+    template<unsigned int UpLo> typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
+    template<unsigned int UpLo> typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+
+    const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
+                                         typename NumTraits<Scalar>::Real m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
+    static const IdentityReturnType Identity();
+    static const IdentityReturnType Identity(Index rows, Index cols);
+    static const BasisReturnType Unit(Index size, Index i);
+    static const BasisReturnType Unit(Index i);
+    static const BasisReturnType UnitX();
+    static const BasisReturnType UnitY();
+    static const BasisReturnType UnitZ();
+    static const BasisReturnType UnitW();
+
+    const DiagonalWrapper<const Derived> asDiagonal() const;
+    const PermutationWrapper<const Derived> asPermutation() const;
+
+    Derived& setIdentity();
+    Derived& setIdentity(Index rows, Index cols);
+
+    bool isIdentity(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isDiagonal(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    bool isUpperTriangular(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isLowerTriangular(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    template<typename OtherDerived>
+    bool isOrthogonal(const MatrixBase<OtherDerived>& other,
+                      RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isUnitary(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    /** \returns true if each coefficients of \c *this and \a other are all exactly equal.
+      * \warning When using floating point scalar values you probably should rather use a
+      *          fuzzy comparison such as isApprox()
+      * \sa isApprox(), operator!= */
+    template<typename OtherDerived>
+    inline bool operator==(const MatrixBase<OtherDerived>& other) const
+    { return cwiseEqual(other).all(); }
+
+    /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
+      * \warning When using floating point scalar values you probably should rather use a
+      *          fuzzy comparison such as isApprox()
+      * \sa isApprox(), operator== */
+    template<typename OtherDerived>
+    inline bool operator!=(const MatrixBase<OtherDerived>& other) const
+    { return cwiseNotEqual(other).any(); }
+
+    NoAlias<Derived,Eigen::MatrixBase > noalias();
+
+    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type forceAlignedAccessIf() const;
+    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+
+    Scalar trace() const;
+
+/////////// Array module ///////////
+
+    template<int p> RealScalar lpNorm() const;
+
+    MatrixBase<Derived>& matrix() { return *this; }
+    const MatrixBase<Derived>& matrix() const { return *this; }
+
+    /** \returns an \link ArrayBase Array \endlink expression of this matrix
+      * \sa ArrayBase::matrix() */
+    ArrayWrapper<Derived> array() { return derived(); }
+    const ArrayWrapper<Derived> array() const { return derived(); }
+
+/////////// LU module ///////////
+
+    const FullPivLU<PlainObject> fullPivLu() const;
+    const PartialPivLU<PlainObject> partialPivLu() const;
+
+    #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+    const LU<PlainObject> lu() const;
+    #endif
+
+    #ifdef EIGEN2_SUPPORT
+    const LU<PlainObject> eigen2_lu() const;
+    #endif
+
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    const PartialPivLU<PlainObject> lu() const;
+    #endif
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename ResultType>
+    void computeInverse(MatrixBase<ResultType> *result) const {
+      *result = this->inverse();
+    }
+    #endif
+
+    const internal::inverse_impl<Derived> inverse() const;
+    template<typename ResultType>
+    void computeInverseAndDetWithCheck(
+      ResultType& inverse,
+      typename ResultType::Scalar& determinant,
+      bool& invertible,
+      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+    ) const;
+    template<typename ResultType>
+    void computeInverseWithCheck(
+      ResultType& inverse,
+      bool& invertible,
+      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+    ) const;
+    Scalar determinant() const;
+
+/////////// Cholesky module ///////////
+
+    const LLT<PlainObject>  llt() const;
+    const LDLT<PlainObject> ldlt() const;
+
+/////////// QR module ///////////
+
+    const HouseholderQR<PlainObject> householderQr() const;
+    const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
+    const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
+    
+    #ifdef EIGEN2_SUPPORT
+    const QR<PlainObject> qr() const;
+    #endif
+
+    EigenvaluesReturnType eigenvalues() const;
+    RealScalar operatorNorm() const;
+
+/////////// SVD module ///////////
+
+    JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+
+    #ifdef EIGEN2_SUPPORT
+    SVD<PlainObject> svd() const;
+    #endif
+
+/////////// Geometry module ///////////
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /// \internal helper struct to form the return type of the cross product
+    template<typename OtherDerived> struct cross_product_return_type {
+      typedef typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
+      typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
+    };
+    #endif // EIGEN_PARSED_BY_DOXYGEN
+    template<typename OtherDerived>
+    typename cross_product_return_type<OtherDerived>::type
+    cross(const MatrixBase<OtherDerived>& other) const;
+    template<typename OtherDerived>
+    PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
+    PlainObject unitOrthogonal(void) const;
+    Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
+    
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    ScalarMultipleReturnType operator*(const UniformScaling<Scalar>& s) const;
+    // put this as separate enum value to work around possible GCC 4.3 bug (?)
+    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1?Vertical:Horizontal };
+    typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
+    HomogeneousReturnType homogeneous() const;
+    #endif
+    
+    enum {
+      SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
+    };
+    typedef Block<const Derived,
+                  internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
+                  internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
+    typedef CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>,
+                const ConstStartMinusOne > HNormalizedReturnType;
+
+    const HNormalizedReturnType hnormalized() const;
+
+////////// Householder module ///////////
+
+    void makeHouseholderInPlace(Scalar& tau, RealScalar& beta);
+    template<typename EssentialPart>
+    void makeHouseholder(EssentialPart& essential,
+                         Scalar& tau, RealScalar& beta) const;
+    template<typename EssentialPart>
+    void applyHouseholderOnTheLeft(const EssentialPart& essential,
+                                   const Scalar& tau,
+                                   Scalar* workspace);
+    template<typename EssentialPart>
+    void applyHouseholderOnTheRight(const EssentialPart& essential,
+                                    const Scalar& tau,
+                                    Scalar* workspace);
+
+///////// Jacobi module /////////
+
+    template<typename OtherScalar>
+    void applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+    template<typename OtherScalar>
+    void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+
+///////// MatrixFunctions module /////////
+
+    typedef typename internal::stem_function<Scalar>::type StemFunction;
+    const MatrixExponentialReturnValue<Derived> exp() const;
+    const MatrixFunctionReturnValue<Derived> matrixFunction(StemFunction f) const;
+    const MatrixFunctionReturnValue<Derived> cosh() const;
+    const MatrixFunctionReturnValue<Derived> sinh() const;
+    const MatrixFunctionReturnValue<Derived> cos() const;
+    const MatrixFunctionReturnValue<Derived> sin() const;
+
+#ifdef EIGEN2_SUPPORT
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                      EvalBeforeAssigningBit>& other);
+
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                      EvalBeforeAssigningBit>& other);
+
+    /** \deprecated because .lazy() is deprecated
+      * Overloaded for cache friendly product evaluation */
+    template<typename OtherDerived>
+    Derived& lazyAssign(const Flagged<OtherDerived, 0, EvalBeforeAssigningBit>& other)
+    { return lazyAssign(other._expression()); }
+
+    template<unsigned int Added>
+    const Flagged<Derived, Added, 0> marked() const;
+    const Flagged<Derived, 0, EvalBeforeAssigningBit> lazy() const;
+
+    inline const Cwise<Derived> cwise() const;
+    inline Cwise<Derived> cwise();
+
+    VectorBlock<Derived> start(Index size);
+    const VectorBlock<const Derived> start(Index size) const;
+    VectorBlock<Derived> end(Index size);
+    const VectorBlock<const Derived> end(Index size) const;
+    template<int Size> VectorBlock<Derived,Size> start();
+    template<int Size> const VectorBlock<const Derived,Size> start() const;
+    template<int Size> VectorBlock<Derived,Size> end();
+    template<int Size> const VectorBlock<const Derived,Size> end() const;
+
+    Minor<Derived> minor(Index row, Index col);
+    const Minor<Derived> minor(Index row, Index col) const;
+#endif
+
+  protected:
+    MatrixBase() : Base() {}
+
+  private:
+    explicit MatrixBase(int);
+    MatrixBase(int,int);
+    template<typename OtherDerived> explicit MatrixBase(const MatrixBase<OtherDerived>&);
+  protected:
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator-=(const ArrayBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+};
+
+#endif // EIGEN_MATRIXBASE_H
diff --git a/extern/Eigen2/Eigen/src/Core/NestByValue.h b/extern/Eigen3/Eigen/src/Core/NestByValue.h
index 2a14ab1f156..a6104d2a426 100644
--- a/extern/Eigen2/Eigen/src/Core/NestByValue.h
+++ b/extern/Eigen3/Eigen/src/Core/NestByValue.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
@@ -27,6 +27,7 @@
 #define EIGEN_NESTBYVALUE_H
 
 /** \class NestByValue
+  * \ingroup Core_Module
   *
   * \brief Expression which must be nested by value
   *
@@ -37,79 +38,83 @@
   *
   * \sa MatrixBase::nestByValue()
   */
+
+namespace internal {
 template<typename ExpressionType>
-struct ei_traits<NestByValue<ExpressionType> > : public ei_traits<ExpressionType>
+struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
 {};
+}
 
 template<typename ExpressionType> class NestByValue
-  : public MatrixBase<NestByValue<ExpressionType> >
+  : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(NestByValue)
+    typedef typename internal::dense_xpr_base<NestByValue>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
 
     inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    inline int rows() const { return m_expression.rows(); }
-    inline int cols() const { return m_expression.cols(); }
-    inline int stride() const { return m_expression.stride(); }
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline const Scalar coeff(int row, int col) const
+    inline const CoeffReturnType coeff(Index row, Index col) const
     {
       return m_expression.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const Scalar coeff(int index) const
+    inline const CoeffReturnType coeff(Index index) const
     {
       return m_expression.coeff(index);
     }
 
-    inline Scalar& coeffRef(int index)
+    inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
 
     template<int LoadMode>
-    inline const PacketScalar packet(int row, int col) const
+    inline const PacketScalar packet(Index row, Index col) const
     {
       return m_expression.template packet<LoadMode>(row, col);
     }
 
     template<int LoadMode>
-    inline void writePacket(int row, int col, const PacketScalar& x)
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
     {
       m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
     }
 
     template<int LoadMode>
-    inline const PacketScalar packet(int index) const
+    inline const PacketScalar packet(Index index) const
     {
       return m_expression.template packet<LoadMode>(index);
     }
 
     template<int LoadMode>
-    inline void writePacket(int index, const PacketScalar& x)
+    inline void writePacket(Index index, const PacketScalar& x)
     {
       m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
     }
 
+    operator const ExpressionType&() const { return m_expression; }
+
   protected:
     const ExpressionType m_expression;
-
-  private:
-    NestByValue& operator=(const NestByValue&);
 };
 
 /** \returns an expression of the temporary version of *this.
   */
 template<typename Derived>
 inline const NestByValue<Derived>
-MatrixBase<Derived>::nestByValue() const
+DenseBase<Derived>::nestByValue() const
 {
   return NestByValue<Derived>(derived());
 }
diff --git a/extern/Eigen3/Eigen/src/Core/NoAlias.h b/extern/Eigen3/Eigen/src/Core/NoAlias.h
new file mode 100644
index 00000000000..da64affcf9a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/NoAlias.h
@@ -0,0 +1,136 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_NOALIAS_H
+#define EIGEN_NOALIAS_H
+
+/** \class NoAlias
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression providing an operator = assuming no aliasing
+  *
+  * \param ExpressionType the type of the object on which to do the lazy assignment
+  *
+  * This class represents an expression with special assignment operators
+  * assuming no aliasing between the target expression and the source expression.
+  * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression.
+  * It is the return type of MatrixBase::noalias()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::noalias()
+  */
+template<typename ExpressionType, template <typename> class StorageBase>
+class NoAlias
+{
+    typedef typename ExpressionType::Scalar Scalar;
+  public:
+    NoAlias(ExpressionType& expression) : m_expression(expression) {}
+
+    /** Behaves like MatrixBase::lazyAssign(other)
+      * \sa MatrixBase::lazyAssign() */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
+    { return internal::assign_selector<ExpressionType,OtherDerived,false>::run(m_expression,other.derived()); }
+
+    /** \sa MatrixBase::operator+= */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
+    {
+      typedef SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
+      SelfAdder tmp(m_expression);
+      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
+      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
+      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      return m_expression;
+    }
+
+    /** \sa MatrixBase::operator-= */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
+    {
+      typedef SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
+      SelfAdder tmp(m_expression);
+      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
+      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
+      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      return m_expression;
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    { other.derived().addTo(m_expression); return m_expression; }
+
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    { other.derived().subTo(m_expression); return m_expression; }
+
+    template<typename Lhs, typename Rhs, int NestingFlags>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
+    { return m_expression.derived() += CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
+
+    template<typename Lhs, typename Rhs, int NestingFlags>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
+    { return m_expression.derived() -= CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
+#endif
+
+  protected:
+    ExpressionType& m_expression;
+};
+
+/** \returns a pseudo expression of \c *this with an operator= assuming
+  * no aliasing between \c *this and the source expression.
+  *
+  * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag.
+  * Currently, even though several expressions may alias, only product
+  * expressions have this flag. Therefore, noalias() is only usefull when
+  * the source expression contains a matrix product.
+  *
+  * Here are some examples where noalias is usefull:
+  * \code
+  * D.noalias()  = A * B;
+  * D.noalias() += A.transpose() * B;
+  * D.noalias() -= 2 * A * B.adjoint();
+  * \endcode
+  *
+  * On the other hand the following example will lead to a \b wrong result:
+  * \code
+  * A.noalias() = A * B;
+  * \endcode
+  * because the result matrix A is also an operand of the matrix product. Therefore,
+  * there is no alternative than evaluating A * B in a temporary, that is the default
+  * behavior when you write:
+  * \code
+  * A = A * B;
+  * \endcode
+  *
+  * \sa class NoAlias
+  */
+template<typename Derived>
+NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
+{
+  return derived();
+}
+
+#endif // EIGEN_NOALIAS_H
diff --git a/extern/Eigen3/Eigen/src/Core/NumTraits.h b/extern/Eigen3/Eigen/src/Core/NumTraits.h
new file mode 100644
index 00000000000..73ef05dfe7a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/NumTraits.h
@@ -0,0 +1,160 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_NUMTRAITS_H
+#define EIGEN_NUMTRAITS_H
+
+/** \class NumTraits
+  * \ingroup Core_Module
+  *
+  * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
+  *
+  * \param T the numeric type at hand
+  *
+  * This class stores enums, typedefs and static methods giving information about a numeric type.
+  *
+  * The provided data consists of:
+  * \li A typedef \a Real, giving the "real part" type of \a T. If \a T is already real,
+  *     then \a Real is just a typedef to \a T. If \a T is \c std::complex<U> then \a Real
+  *     is a typedef to \a U.
+  * \li A typedef \a NonInteger, giving the type that should be used for operations producing non-integral values,
+  *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
+  *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
+  *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
+  *     only intended as a helper for code that needs to explicitly promote types.
+  * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
+  *     this means, just use \a T here.
+  * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
+  *     type, and to 0 otherwise.
+  * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int,
+  *     and to \c 0 otherwise.
+  * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed
+  *     to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers.
+  *     Stay vague here. No need to do architecture-specific stuff.
+  * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
+  * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
+  *     be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
+  * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), returns a \a Real instead of a \a T.
+  * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
+  *     value by the fuzzy comparison operators.
+  * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
+  */
+
+template<typename T> struct GenericNumTraits
+{
+  enum {
+    IsInteger = std::numeric_limits<T>::is_integer,
+    IsSigned = std::numeric_limits<T>::is_signed,
+    IsComplex = 0,
+    RequireInitialization = internal::is_arithmetic<T>::value ? 0 : 1,
+    ReadCost = 1,
+    AddCost = 1,
+    MulCost = 1
+  };
+
+  typedef T Real;
+  typedef typename internal::conditional<
+                     IsInteger,
+                     typename internal::conditional<sizeof(T)<=2, float, double>::type,
+                     T
+                   >::type NonInteger;
+  typedef T Nested;
+
+  inline static Real epsilon() { return std::numeric_limits<T>::epsilon(); }
+  inline static Real dummy_precision()
+  {
+    // make sure to override this for floating-point types
+    return Real(0);
+  }
+  inline static T highest() { return (std::numeric_limits<T>::max)(); }
+  inline static T lowest()  { return IsInteger ? (std::numeric_limits<T>::min)() : (-(std::numeric_limits<T>::max)()); }
+  
+#ifdef EIGEN2_SUPPORT
+  enum {
+    HasFloatingPoint = !IsInteger
+  };
+  typedef NonInteger FloatingPoint;
+#endif
+};
+
+template<typename T> struct NumTraits : GenericNumTraits<T>
+{};
+
+template<> struct NumTraits<float>
+  : GenericNumTraits<float>
+{
+  inline static float dummy_precision() { return 1e-5f; }
+};
+
+template<> struct NumTraits<double> : GenericNumTraits<double>
+{
+  inline static double dummy_precision() { return 1e-12; }
+};
+
+template<> struct NumTraits<long double>
+  : GenericNumTraits<long double>
+{
+  static inline long double dummy_precision() { return 1e-15l; }
+};
+
+template<typename _Real> struct NumTraits<std::complex<_Real> >
+  : GenericNumTraits<std::complex<_Real> >
+{
+  typedef _Real Real;
+  enum {
+    IsComplex = 1,
+    RequireInitialization = NumTraits<_Real>::RequireInitialization,
+    ReadCost = 2 * NumTraits<_Real>::ReadCost,
+    AddCost = 2 * NumTraits<Real>::AddCost,
+    MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
+  };
+
+  inline static Real epsilon() { return NumTraits<Real>::epsilon(); }
+  inline static Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+{
+  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> ArrayType;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Array<RealScalar, Rows, Cols, Options, MaxRows, MaxCols> Real;
+  typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
+  typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
+  typedef ArrayType & Nested;
+  
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    IsInteger = NumTraits<Scalar>::IsInteger,
+    IsSigned  = NumTraits<Scalar>::IsSigned,
+    RequireInitialization = 1,
+    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
+    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
+    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+  };
+};
+
+
+
+#endif // EIGEN_NUMTRAITS_H
diff --git a/extern/Eigen3/Eigen/src/Core/PermutationMatrix.h b/extern/Eigen3/Eigen/src/Core/PermutationMatrix.h
new file mode 100644
index 00000000000..a064e053e51
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/PermutationMatrix.h
@@ -0,0 +1,696 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PERMUTATIONMATRIX_H
+#define EIGEN_PERMUTATIONMATRIX_H
+
+template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKind> class PermutedImpl;
+
+/** \class PermutationBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for permutations
+  *
+  * \param Derived the derived class
+  *
+  * This class is the base class for all expressions representing a permutation matrix,
+  * internally stored as a vector of integers.
+  * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix
+  * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have:
+  *  \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f]
+  * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have:
+  *  \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f]
+  *
+  * Permutation matrices are square and invertible.
+  *
+  * Notice that in addition to the member functions and operators listed here, there also are non-member
+  * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase)
+  * on either side.
+  *
+  * \sa class PermutationMatrix, class PermutationWrapper
+  */
+
+namespace internal {
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
+struct permut_matrix_product_retval;
+enum PermPermProduct_t {PermPermProduct};
+
+} // end namespace internal
+
+template<typename Derived>
+class PermutationBase : public EigenBase<Derived>
+{
+    typedef internal::traits<Derived> Traits;
+    typedef EigenBase<Derived> Base;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    enum {
+      Flags = Traits::Flags,
+      CoeffReadCost = Traits::CoeffReadCost,
+      RowsAtCompileTime = Traits::RowsAtCompileTime,
+      ColsAtCompileTime = Traits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+    };
+    typedef typename Traits::Scalar Scalar;
+    typedef typename Traits::Index Index;
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
+            DenseMatrixType;
+    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,Index>
+            PlainPermutationType;
+    using Base::derived;
+    #endif
+
+    /** Copies the other permutation into *this */
+    template<typename OtherDerived>
+    Derived& operator=(const PermutationBase<OtherDerived>& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename OtherDerived>
+    Derived& operator=(const TranspositionsBase<OtherDerived>& tr)
+    {
+      setIdentity(tr.size());
+      for(Index k=size()-1; k>=0; --k)
+        applyTranspositionOnTheRight(k,tr.coeff(k));
+      return derived();
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Derived& operator=(const PermutationBase& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+    #endif
+
+    /** \returns the number of rows */
+    inline Index rows() const { return indices().size(); }
+
+    /** \returns the number of columns */
+    inline Index cols() const { return indices().size(); }
+
+    /** \returns the size of a side of the respective square matrix, i.e., the number of indices */
+    inline Index size() const { return indices().size(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived>& other) const
+    {
+      other.setZero();
+      for (int i=0; i<rows();++i)
+        other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
+    }
+    #endif
+
+    /** \returns a Matrix object initialized from this permutation matrix. Notice that it
+      * is inefficient to return this Matrix object by value. For efficiency, favor using
+      * the Matrix constructor taking EigenBase objects.
+      */
+    DenseMatrixType toDenseMatrix() const
+    {
+      return derived();
+    }
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return derived().indices(); }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return derived().indices(); }
+
+    /** Resizes to given size.
+      */
+    inline void resize(Index size)
+    {
+      indices().resize(size);
+    }
+
+    /** Sets *this to be the identity permutation matrix */
+    void setIdentity()
+    {
+      for(Index i = 0; i < size(); ++i)
+        indices().coeffRef(i) = i;
+    }
+
+    /** Sets *this to be the identity permutation matrix of given size.
+      */
+    void setIdentity(Index size)
+    {
+      resize(size);
+      setIdentity();
+    }
+
+    /** Multiplies *this by the transposition \f$(ij)\f$ on the left.
+      *
+      * \returns a reference to *this.
+      *
+      * \warning This is much slower than applyTranspositionOnTheRight(int,int):
+      * this has linear complexity and requires a lot of branching.
+      *
+      * \sa applyTranspositionOnTheRight(int,int)
+      */
+    Derived& applyTranspositionOnTheLeft(Index i, Index j)
+    {
+      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+      for(Index k = 0; k < size(); ++k)
+      {
+        if(indices().coeff(k) == i) indices().coeffRef(k) = j;
+        else if(indices().coeff(k) == j) indices().coeffRef(k) = i;
+      }
+      return derived();
+    }
+
+    /** Multiplies *this by the transposition \f$(ij)\f$ on the right.
+      *
+      * \returns a reference to *this.
+      *
+      * This is a fast operation, it only consists in swapping two indices.
+      *
+      * \sa applyTranspositionOnTheLeft(int,int)
+      */
+    Derived& applyTranspositionOnTheRight(Index i, Index j)
+    {
+      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+      std::swap(indices().coeffRef(i), indices().coeffRef(j));
+      return derived();
+    }
+
+    /** \returns the inverse permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    inline Transpose<PermutationBase> inverse() const
+    { return derived(); }
+    /** \returns the tranpose permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    inline Transpose<PermutationBase> transpose() const
+    { return derived(); }
+
+    /**** multiplication helpers to hopefully get RVO ****/
+
+  
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  protected:
+    template<typename OtherDerived>
+    void assignTranspose(const PermutationBase<OtherDerived>& other)
+    {
+      for (int i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
+    }
+    template<typename Lhs,typename Rhs>
+    void assignProduct(const Lhs& lhs, const Rhs& rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows());
+      for (int i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
+    }
+#endif
+
+  public:
+
+    /** \returns the product permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other>
+    inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
+    { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); }
+
+    /** \returns the product of a permutation with another inverse permutation.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other>
+    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other) const
+    { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
+
+    /** \returns the product of an inverse permutation with another permutation.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other> friend
+    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
+    { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
+
+  protected:
+
+};
+
+/** \class PermutationMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Permutation matrix
+  *
+  * \param SizeAtCompileTime the number of rows/cols, or Dynamic
+  * \param MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  * \param IndexType the interger type of the indices
+  *
+  * This class represents a permutation matrix, internally stored as a vector of integers.
+  *
+  * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
+  */
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+ : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef IndexType Index;
+  typedef Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+{
+    typedef PermutationBase<PermutationMatrix> Base;
+    typedef internal::traits<PermutationMatrix> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    #endif
+
+    inline PermutationMatrix()
+    {}
+
+    /** Constructs an uninitialized permutation matrix of given size.
+      */
+    inline PermutationMatrix(int size) : m_indices(size)
+    {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline PermutationMatrix(const PermutationBase<OtherDerived>& other)
+      : m_indices(other.indices()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Standard copy constructor. Defined only to prevent a default copy constructor
+      * from hiding the other templated constructor */
+    inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {}
+    #endif
+
+    /** Generic constructor from expression of the indices. The indices
+      * array has the meaning that the permutations sends each integer i to indices[i].
+      *
+      * \warning It is your responsibility to check that the indices array that you passes actually
+      * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the
+      * array's size.
+      */
+    template<typename Other>
+    explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
+    {}
+
+    /** Convert the Transpositions \a tr to a permutation matrix */
+    template<typename Other>
+    explicit PermutationMatrix(const TranspositionsBase<Other>& tr)
+      : m_indices(tr.size())
+    {
+      *this = tr;
+    }
+
+    /** Copies the other permutation into *this */
+    template<typename Other>
+    PermutationMatrix& operator=(const PermutationBase<Other>& other)
+    {
+      m_indices = other.indices();
+      return *this;
+    }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename Other>
+    PermutationMatrix& operator=(const TranspositionsBase<Other>& tr)
+    {
+      return Base::operator=(tr.derived());
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    PermutationMatrix& operator=(const PermutationMatrix& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return m_indices; }
+
+
+    /**** multiplication helpers to hopefully get RVO ****/
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Other>
+    PermutationMatrix(const Transpose<PermutationBase<Other> >& other)
+      : m_indices(other.nestedPermutation().size())
+    {
+      for (int i=0; i<m_indices.size();++i) m_indices.coeffRef(other.nestedPermutation().indices().coeff(i)) = i;
+    }
+    template<typename Lhs,typename Rhs>
+    PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
+      : m_indices(lhs.indices().size())
+    {
+      Base::assignProduct(lhs,rhs);
+    }
+#endif
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+ : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef IndexType Index;
+  typedef Map<const Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess>
+  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+{
+    typedef PermutationBase<Map> Base;
+    typedef internal::traits<Map> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+    #endif
+
+    inline Map(const Index* indices)
+      : m_indices(indices)
+    {}
+
+    inline Map(const Index* indices, Index size)
+      : m_indices(indices,size)
+    {}
+
+    /** Copies the other permutation into *this */
+    template<typename Other>
+    Map& operator=(const PermutationBase<Other>& other)
+    { return Base::operator=(other.derived()); }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename Other>
+    Map& operator=(const TranspositionsBase<Other>& tr)
+    { return Base::operator=(tr.derived()); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Map& operator=(const Map& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+/** \class PermutationWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Class to view a vector of integers as a permutation matrix
+  *
+  * \param _IndicesType the type of the vector of integer (can be any compatible expression)
+  *
+  * This class allows to view any vector expression of integers as a permutation matrix.
+  *
+  * \sa class PermutationBase, class PermutationMatrix
+  */
+
+struct PermutationStorage {};
+
+template<typename _IndicesType> class TranspositionsWrapper;
+namespace internal {
+template<typename _IndicesType>
+struct traits<PermutationWrapper<_IndicesType> >
+{
+  typedef PermutationStorage StorageKind;
+  typedef typename _IndicesType::Scalar Scalar;
+  typedef typename _IndicesType::Scalar Index;
+  typedef _IndicesType IndicesType;
+  enum {
+    RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
+    ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
+    MaxRowsAtCompileTime = IndicesType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = IndicesType::MaxColsAtCompileTime,
+    Flags = 0,
+    CoeffReadCost = _IndicesType::CoeffReadCost
+  };
+};
+}
+
+template<typename _IndicesType>
+class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
+{
+    typedef PermutationBase<PermutationWrapper> Base;
+    typedef internal::traits<PermutationWrapper> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    #endif
+
+    inline PermutationWrapper(const IndicesType& indices)
+      : m_indices(indices)
+    {}
+
+    /** const version of indices(). */
+    const typename internal::remove_all<typename IndicesType::Nested>::type&
+    indices() const { return m_indices; }
+
+  protected:
+
+    const typename IndicesType::Nested m_indices;
+};
+
+/** \returns the matrix with the permutation applied to the columns.
+  */
+template<typename Derived, typename PermutationDerived>
+inline const internal::permut_matrix_product_retval<PermutationDerived, Derived, OnTheRight>
+operator*(const MatrixBase<Derived>& matrix,
+          const PermutationBase<PermutationDerived> &permutation)
+{
+  return internal::permut_matrix_product_retval
+           <PermutationDerived, Derived, OnTheRight>
+           (permutation.derived(), matrix.derived());
+}
+
+/** \returns the matrix with the permutation applied to the rows.
+  */
+template<typename Derived, typename PermutationDerived>
+inline const internal::permut_matrix_product_retval
+               <PermutationDerived, Derived, OnTheLeft>
+operator*(const PermutationBase<PermutationDerived> &permutation,
+          const MatrixBase<Derived>& matrix)
+{
+  return internal::permut_matrix_product_retval
+           <PermutationDerived, Derived, OnTheLeft>
+           (permutation.derived(), matrix.derived());
+}
+
+namespace internal {
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
+struct traits<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
+struct permut_matrix_product_retval
+ : public ReturnByValue<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+{
+    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
+
+    permut_matrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
+      : m_permutation(perm), m_matrix(matrix)
+    {}
+
+    inline int rows() const { return m_matrix.rows(); }
+    inline int cols() const { return m_matrix.cols(); }
+
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      const int n = Side==OnTheLeft ? rows() : cols();
+
+      if(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix))
+      {
+        // apply the permutation inplace
+        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(m_permutation.size());
+        mask.fill(false);
+        int r = 0;
+        while(r < m_permutation.size())
+        {
+          // search for the next seed
+          while(r<m_permutation.size() && mask[r]) r++;
+          if(r>=m_permutation.size())
+            break;
+          // we got one, let's follow it until we are back to the seed
+          int k0 = r++;
+          int kPrev = k0;
+          mask.coeffRef(k0) = true;
+          for(int k=m_permutation.indices().coeff(k0); k!=k0; k=m_permutation.indices().coeff(k))
+          {
+                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
+            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
+
+            mask.coeffRef(k) = true;
+            kPrev = k;
+          }
+        }
+      }
+      else
+      {
+        for(int i = 0; i < n; ++i)
+        {
+          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+               (dst, ((Side==OnTheLeft) ^ Transposed) ? m_permutation.indices().coeff(i) : i)
+
+          =
+
+          Block<const MatrixTypeNestedCleaned,Side==OnTheLeft ? 1 : MatrixType::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixType::ColsAtCompileTime>
+               (m_matrix, ((Side==OnTheRight) ^ Transposed) ? m_permutation.indices().coeff(i) : i);
+        }
+      }
+    }
+
+  protected:
+    const PermutationType& m_permutation;
+    const typename MatrixType::Nested m_matrix;
+};
+
+/* Template partial specialization for transposed/inverse permutations */
+
+template<typename Derived>
+struct traits<Transpose<PermutationBase<Derived> > >
+ : traits<Derived>
+{};
+
+} // end namespace internal
+
+template<typename Derived>
+class Transpose<PermutationBase<Derived> >
+  : public EigenBase<Transpose<PermutationBase<Derived> > >
+{
+    typedef Derived PermutationType;
+    typedef typename PermutationType::IndicesType IndicesType;
+    typedef typename PermutationType::PlainPermutationType PlainPermutationType;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef internal::traits<PermutationType> Traits;
+    typedef typename Derived::DenseMatrixType DenseMatrixType;
+    enum {
+      Flags = Traits::Flags,
+      CoeffReadCost = Traits::CoeffReadCost,
+      RowsAtCompileTime = Traits::RowsAtCompileTime,
+      ColsAtCompileTime = Traits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+    };
+    typedef typename Traits::Scalar Scalar;
+    #endif
+
+    Transpose(const PermutationType& p) : m_permutation(p) {}
+
+    inline int rows() const { return m_permutation.rows(); }
+    inline int cols() const { return m_permutation.cols(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived>& other) const
+    {
+      other.setZero();
+      for (int i=0; i<rows();++i)
+        other.coeffRef(i, m_permutation.indices().coeff(i)) = typename DenseDerived::Scalar(1);
+    }
+    #endif
+
+    /** \return the equivalent permutation matrix */
+    PlainPermutationType eval() const { return *this; }
+
+    DenseMatrixType toDenseMatrix() const { return *this; }
+
+    /** \returns the matrix with the inverse permutation applied to the columns.
+      */
+    template<typename OtherDerived> friend
+    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>
+    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trPerm)
+    {
+      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>(trPerm.m_permutation, matrix.derived());
+    }
+
+    /** \returns the matrix with the inverse permutation applied to the rows.
+      */
+    template<typename OtherDerived>
+    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>
+    operator*(const MatrixBase<OtherDerived>& matrix) const
+    {
+      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>(m_permutation, matrix.derived());
+    }
+
+    const PermutationType& nestedPermutation() const { return m_permutation; }
+
+  protected:
+    const PermutationType& m_permutation;
+};
+
+template<typename Derived>
+const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() const
+{
+  return derived();
+}
+
+#endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/PlainObjectBase.h b/extern/Eigen3/Eigen/src/Core/PlainObjectBase.h
new file mode 100644
index 00000000000..c70db92479a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/PlainObjectBase.h
@@ -0,0 +1,737 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSESTORAGEBASE_H
+#define EIGEN_DENSESTORAGEBASE_H
+
+#ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+# define EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
+#else
+# define EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+#endif
+
+namespace internal {
+
+template <typename Derived, typename OtherDerived = Derived, bool IsVector = static_cast<bool>(Derived::IsVectorAtCompileTime)> struct conservative_resize_like_impl;
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
+
+} // end namespace internal
+
+/**
+  * \brief %Dense storage base class for matrices and arrays.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
+{
+  public:
+    enum { Options = internal::traits<Derived>::Options };
+    typedef typename internal::dense_xpr_base<Derived>::type Base;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef Derived DenseType;
+
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+
+    template<typename PlainObjectType, int MapOptions, typename StrideType> friend class Eigen::Map;
+    friend  class Eigen::Map<Derived, Unaligned>;
+    typedef Eigen::Map<Derived, Unaligned>  MapType;
+    friend  class Eigen::Map<const Derived, Unaligned>;
+    typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
+    friend  class Eigen::Map<Derived, Aligned>;
+    typedef Eigen::Map<Derived, Aligned> AlignedMapType;
+    friend  class Eigen::Map<const Derived, Aligned>;
+    typedef const Eigen::Map<const Derived, Aligned> ConstAlignedMapType;
+    template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
+    template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
+    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
+    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
+    
+
+  protected:
+    DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
+
+  public:
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    Base& base() { return *static_cast<Base*>(this); }
+    const Base& base() const { return *static_cast<const Base*>(this); }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
+
+    EIGEN_STRONG_INLINE const Scalar& coeff(Index row, Index col) const
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
+    {
+      return m_storage.data()[index];
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
+    {
+      return m_storage.data()[index];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index row, Index col) const
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
+    {
+      return m_storage.data()[index];
+    }
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>
+               (m_storage.data() + (Flags & RowMajorBit
+                                   ? col + row * m_storage.cols()
+                                   : row + col * m_storage.rows()));
+    }
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>(m_storage.data() + index);
+    }
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+              (m_storage.data() + (Flags & RowMajorBit
+                                   ? col + row * m_storage.cols()
+                                   : row + col * m_storage.rows()), x);
+    }
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>(m_storage.data() + index, x);
+    }
+
+    /** \returns a const pointer to the data array of this matrix */
+    EIGEN_STRONG_INLINE const Scalar *data() const
+    { return m_storage.data(); }
+
+    /** \returns a pointer to the data array of this matrix */
+    EIGEN_STRONG_INLINE Scalar *data()
+    { return m_storage.data(); }
+
+    /** Resizes \c *this to a \a rows x \a cols matrix.
+      *
+      * This method is intended for dynamic-size matrices, although it is legal to call it on any
+      * matrix as long as fixed dimensions are left unchanged. If you only want to change the number
+      * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t).
+      *
+      * If the current number of coefficients of \c *this exactly matches the
+      * product \a rows * \a cols, then no memory allocation is performed and
+      * the current values are left unchanged. In all other cases, including
+      * shrinking, the data is reallocated and all previous values are lost.
+      *
+      * Example: \include Matrix_resize_int_int.cpp
+      * Output: \verbinclude Matrix_resize_int_int.out
+      *
+      * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
+      */
+    EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
+    {
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        Index size = rows*cols;
+        bool size_changed = size != this->size();
+        m_storage.resize(size, rows, cols);
+        if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+      #else
+        m_storage.resize(rows*cols, rows, cols);
+      #endif
+    }
+
+    /** Resizes \c *this to a vector of length \a size
+      *
+      * \only_for_vectors. This method does not work for
+      * partially dynamic matrices when the static dimension is anything other
+      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+      *
+      * Example: \include Matrix_resize_int.cpp
+      * Output: \verbinclude Matrix_resize_int.out
+      *
+      * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
+      */
+    inline void resize(Index size)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        bool size_changed = size != this->size();
+      #endif
+      if(RowsAtCompileTime == 1)
+        m_storage.resize(size, 1, size);
+      else
+        m_storage.resize(size, size, 1);
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+      #endif
+    }
+
+    /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange
+      * as in the example below.
+      *
+      * Example: \include Matrix_resize_NoChange_int.cpp
+      * Output: \verbinclude Matrix_resize_NoChange_int.out
+      *
+      * \sa resize(Index,Index)
+      */
+    inline void resize(NoChange_t, Index cols)
+    {
+      resize(rows(), cols);
+    }
+
+    /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
+      * as in the example below.
+      *
+      * Example: \include Matrix_resize_int_NoChange.cpp
+      * Output: \verbinclude Matrix_resize_int_NoChange.out
+      *
+      * \sa resize(Index,Index)
+      */
+    inline void resize(Index rows, NoChange_t)
+    {
+      resize(rows, cols());
+    }
+
+    /** Resizes \c *this to have the same dimensions as \a other.
+      * Takes care of doing all the checking that's needed.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
+    {
+      const OtherDerived& other = _other.derived();
+      const Index othersize = other.rows()*other.cols();
+      if(RowsAtCompileTime == 1)
+      {
+        eigen_assert(other.rows() == 1 || other.cols() == 1);
+        resize(1, othersize);
+      }
+      else if(ColsAtCompileTime == 1)
+      {
+        eigen_assert(other.rows() == 1 || other.cols() == 1);
+        resize(othersize, 1);
+      }
+      else resize(other.rows(), other.cols());
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * The method is intended for matrices of dynamic size. If you only want to change the number
+      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+      * conservativeResize(Index, NoChange_t).
+      *
+      * Matrices are resized relative to the top-left element. In case values need to be 
+      * appended to the matrix they will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
+    {
+      internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+      * the number of columns unchanged.
+      *
+      * In case the matrix is growing, new rows will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
+    {
+      // Note: see the comment in conservativeResize(Index,Index)
+      conservativeResize(rows, cols());
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+      * the number of rows unchanged.
+      *
+      * In case the matrix is growing, new columns will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
+    {
+      // Note: see the comment in conservativeResize(Index,Index)
+      conservativeResize(rows(), cols);
+    }
+
+    /** Resizes the vector to \a size while retaining old values.
+      *
+      * \only_for_vectors. This method does not work for
+      * partially dynamic matrices when the static dimension is anything other
+      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+      *
+      * When values are appended, they will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index size)
+    {
+      internal::conservative_resize_like_impl<Derived>::run(*this, size);
+    }
+
+    /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched.
+      *
+      * The method is intended for matrices of dynamic size. If you only want to change the number
+      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+      * conservativeResize(Index, NoChange_t).
+      *
+      * Matrices are resized relative to the top-left element. In case values need to be 
+      * appended to the matrix they will copied from \c other.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
+    {
+      internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
+    }
+
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
+    {
+      return _set(other);
+    }
+
+    /** \sa MatrixBase::lazyAssign() */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
+    {
+      _resize_to_match(other);
+      return Base::lazyAssign(other.derived());
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
+    {
+      resize(func.rows(), func.cols());
+      return Base::operator=(func);
+    }
+
+    EIGEN_STRONG_INLINE explicit PlainObjectBase() : m_storage()
+    {
+//       _check_template_params();
+//       EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    // FIXME is it still needed ?
+    /** \internal */
+    PlainObjectBase(internal::constructor_without_unaligned_array_assert)
+      : m_storage(internal::constructor_without_unaligned_array_assert())
+    {
+//       _check_template_params(); EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+#endif
+
+    EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
+      : m_storage(size, rows, cols)
+    {
+//       _check_template_params();
+//       EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    /** \copydoc MatrixBase::operator=(const EigenBase<OtherDerived>&)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
+    {
+      _resize_to_match(other);
+      Base::operator=(other.derived());
+      return this->derived();
+    }
+
+    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
+      : m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      _check_template_params();
+      Base::operator=(other.derived());
+    }
+
+    /** \name Map
+      * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
+      * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
+      * \a data pointers.
+      *
+      * \see class Map
+      */
+    //@{
+    inline static ConstMapType Map(const Scalar* data)
+    { return ConstMapType(data); }
+    inline static MapType Map(Scalar* data)
+    { return MapType(data); }
+    inline static ConstMapType Map(const Scalar* data, Index size)
+    { return ConstMapType(data, size); }
+    inline static MapType Map(Scalar* data, Index size)
+    { return MapType(data, size); }
+    inline static ConstMapType Map(const Scalar* data, Index rows, Index cols)
+    { return ConstMapType(data, rows, cols); }
+    inline static MapType Map(Scalar* data, Index rows, Index cols)
+    { return MapType(data, rows, cols); }
+
+    inline static ConstAlignedMapType MapAligned(const Scalar* data)
+    { return ConstAlignedMapType(data); }
+    inline static AlignedMapType MapAligned(Scalar* data)
+    { return AlignedMapType(data); }
+    inline static ConstAlignedMapType MapAligned(const Scalar* data, Index size)
+    { return ConstAlignedMapType(data, size); }
+    inline static AlignedMapType MapAligned(Scalar* data, Index size)
+    { return AlignedMapType(data, size); }
+    inline static ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols)
+    { return ConstAlignedMapType(data, rows, cols); }
+    inline static AlignedMapType MapAligned(Scalar* data, Index rows, Index cols)
+    { return AlignedMapType(data, rows, cols); }
+
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    //@}
+
+    using Base::setConstant;
+    Derived& setConstant(Index size, const Scalar& value);
+    Derived& setConstant(Index rows, Index cols, const Scalar& value);
+
+    using Base::setZero;
+    Derived& setZero(Index size);
+    Derived& setZero(Index rows, Index cols);
+
+    using Base::setOnes;
+    Derived& setOnes(Index size);
+    Derived& setOnes(Index rows, Index cols);
+
+    using Base::setRandom;
+    Derived& setRandom(Index size);
+    Derived& setRandom(Index rows, Index cols);
+
+    #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN
+    #include EIGEN_PLAINOBJECTBASE_PLUGIN
+    #endif
+
+  protected:
+    /** \internal Resizes *this in preparation for assigning \a other to it.
+      * Takes care of doing all the checking that's needed.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
+    {
+      #ifdef EIGEN_NO_AUTOMATIC_RESIZING
+      eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size())
+                 : (rows() == other.rows() && cols() == other.cols())))
+        && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
+      #else
+      resizeLike(other);
+      #endif
+    }
+
+    /**
+      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      *
+      * \sa operator=(const MatrixBase<OtherDerived>&), _set_noalias()
+      *
+      * \internal
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
+    {
+      _set_selector(other.derived(), typename internal::conditional<static_cast<bool>(int(OtherDerived::Flags) & EvalBeforeAssigningBit), internal::true_type, internal::false_type>::type());
+      return this->derived();
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::true_type&) { _set_noalias(other.eval()); }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::false_type&) { _set_noalias(other); }
+
+    /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
+      * is the case when creating a new matrix) so one can enforce lazy evaluation.
+      *
+      * \sa operator=(const MatrixBase<OtherDerived>&), _set()
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
+    {
+      // I don't think we need this resize call since the lazyAssign will anyways resize
+      // and lazyAssign will be called by the assign selector.
+      //_resize_to_match(other);
+      // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
+      // it wouldn't allow to copy a row-vector into a column-vector.
+      return internal::assign_selector<Derived,OtherDerived,false>::run(this->derived(), other.derived());
+    }
+
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
+    {
+      eigen_assert(rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+             && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+      m_storage.resize(rows*cols,rows,cols);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE void _init2(const Scalar& x, const Scalar& y, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+    }
+
+    template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+    friend struct internal::matrix_swap_impl;
+
+    /** \internal generic implementation of swap for dense storage since for dynamic-sized matrices of same type it is enough to swap the
+      * data pointers.
+      */
+    template<typename OtherDerived>
+    void _swap(DenseBase<OtherDerived> const & other)
+    {
+      enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
+      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.const_cast_derived());
+    }
+
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void _check_template_params()
+    {
+      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
+                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0)
+                        && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0))
+                        && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0))
+                        && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0))
+                        && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0))
+                        && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic)
+                        && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic)
+                        && (Options & (DontAlign|RowMajor)) == Options),
+        INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+#endif
+
+private:
+    enum { ThisConstantIsPrivateInPlainObjectBase };
+};
+
+template <typename Derived, typename OtherDerived, bool IsVector>
+struct internal::conservative_resize_like_impl
+{
+  typedef typename Derived::Index Index;
+  static void run(DenseBase<Derived>& _this, Index rows, Index cols)
+  {
+    if (_this.rows() == rows && _this.cols() == cols) return;
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+
+    if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
+         (!Derived::IsRowMajor && _this.rows() == rows) )  // column-major and we change only the number of columns
+    {
+      _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
+    }
+    else
+    {
+      // The storage order does not allow us to use reallocation.
+      typename Derived::PlainObject tmp(rows,cols);
+      const Index common_rows = (std::min)(rows, _this.rows());
+      const Index common_cols = (std::min)(cols, _this.cols());
+      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+      _this.derived().swap(tmp);
+    }
+  }
+
+  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+  {
+    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+    // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index),
+    // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the
+    // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or
+    // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like
+    // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good.
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived)
+
+    if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows
+         (!Derived::IsRowMajor && _this.rows() == other.rows()) )  // column-major and we change only the number of columns
+    {
+      const Index new_rows = other.rows() - _this.rows();
+      const Index new_cols = other.cols() - _this.cols();
+      _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols());
+      if (new_rows>0)
+        _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows);
+      else if (new_cols>0)
+        _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols);
+    }
+    else
+    {
+      // The storage order does not allow us to use reallocation.
+      typename Derived::PlainObject tmp(other);
+      const Index common_rows = (std::min)(tmp.rows(), _this.rows());
+      const Index common_cols = (std::min)(tmp.cols(), _this.cols());
+      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+      _this.derived().swap(tmp);
+    }
+  }
+};
+
+namespace internal {
+
+template <typename Derived, typename OtherDerived>
+struct conservative_resize_like_impl<Derived,OtherDerived,true>
+{
+  typedef typename Derived::Index Index;
+  static void run(DenseBase<Derived>& _this, Index size)
+  {
+    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
+    const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1;
+    _this.derived().m_storage.conservativeResize(size,new_rows,new_cols);
+  }
+
+  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+  {
+    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+    const Index num_new_elements = other.size() - _this.size();
+
+    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows();
+    const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1;
+    _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols);
+
+    if (num_new_elements > 0)
+      _this.tail(num_new_elements) = other.tail(num_new_elements);
+  }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+struct matrix_swap_impl
+{
+  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+  {
+    a.base().swap(b);
+  }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB>
+struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
+{
+  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+  {
+    static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_DENSESTORAGEBASE_H
diff --git a/extern/Eigen3/Eigen/src/Core/Product.h b/extern/Eigen3/Eigen/src/Core/Product.h
new file mode 100644
index 00000000000..e2035b242b1
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Product.h
@@ -0,0 +1,625 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PRODUCT_H
+#define EIGEN_PRODUCT_H
+
+/** \class GeneralProduct
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the product of two general matrices or vectors
+  *
+  * \param LhsNested the type used to store the left-hand side
+  * \param RhsNested the type used to store the right-hand side
+  * \param ProductMode the type of the product
+  *
+  * This class represents an expression of the product of two general matrices.
+  * We call a general matrix, a dense matrix with full storage. For instance,
+  * This excludes triangular, selfadjoint, and sparse matrices.
+  * It is the return type of the operator* between general matrices. Its template
+  * arguments are determined automatically by ProductReturnType. Therefore,
+  * GeneralProduct should never be used direclty. To determine the result type of a
+  * function which involves a matrix product, use ProductReturnType::Type.
+  *
+  * \sa ProductReturnType, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
+  */
+template<typename Lhs, typename Rhs, int ProductType = internal::product_type<Lhs,Rhs>::value>
+class GeneralProduct;
+
+enum {
+  Large = 2,
+  Small = 3
+};
+
+namespace internal {
+
+template<int Rows, int Cols, int Depth> struct product_type_selector;
+
+template<int Size, int MaxSize> struct product_size_category
+{
+  enum { is_large = MaxSize == Dynamic ||
+                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD,
+         value = is_large  ? Large
+               : Size == 1 ? 1
+                           : Small
+  };
+};
+
+template<typename Lhs, typename Rhs> struct product_type
+{
+  typedef typename remove_all<Lhs>::type _Lhs;
+  typedef typename remove_all<Rhs>::type _Rhs;
+  enum {
+    MaxRows  = _Lhs::MaxRowsAtCompileTime,
+    Rows  = _Lhs::RowsAtCompileTime,
+    MaxCols  = _Rhs::MaxColsAtCompileTime,
+    Cols  = _Rhs::ColsAtCompileTime,
+    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::MaxColsAtCompileTime,
+                                           _Rhs::MaxRowsAtCompileTime),
+    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::ColsAtCompileTime,
+                                        _Rhs::RowsAtCompileTime),
+    LargeThreshold = EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+  };
+
+  // the splitting into different lines of code here, introducing the _select enums and the typedef below,
+  // is to work around an internal compiler error with gcc 4.1 and 4.2.
+private:
+  enum {
+    rows_select = product_size_category<Rows,MaxRows>::value,
+    cols_select = product_size_category<Cols,MaxCols>::value,
+    depth_select = product_size_category<Depth,MaxDepth>::value
+  };
+  typedef product_type_selector<rows_select, cols_select, depth_select> selector;
+
+public:
+  enum {
+    value = selector::ret
+  };
+#ifdef EIGEN_DEBUG_PRODUCT
+  static void debug()
+  {
+      EIGEN_DEBUG_VAR(Rows);
+      EIGEN_DEBUG_VAR(Cols);
+      EIGEN_DEBUG_VAR(Depth);
+      EIGEN_DEBUG_VAR(rows_select);
+      EIGEN_DEBUG_VAR(cols_select);
+      EIGEN_DEBUG_VAR(depth_select);
+      EIGEN_DEBUG_VAR(value);
+  }
+#endif
+};
+
+
+/* The following allows to select the kind of product at compile time
+ * based on the three dimensions of the product.
+ * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
+// FIXME I'm not sure the current mapping is the ideal one.
+template<int M, int N>  struct product_type_selector<M,N,1>              { enum { ret = OuterProduct }; };
+template<int Depth>     struct product_type_selector<1,    1,    Depth>  { enum { ret = InnerProduct }; };
+template<>              struct product_type_selector<1,    1,    1>      { enum { ret = InnerProduct }; };
+template<>              struct product_type_selector<Small,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small, Large, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Large,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Large,Large>  { enum { ret = GemvProduct }; };
+template<>              struct product_type_selector<1,    Small,Large>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large,1,    Large>  { enum { ret = GemvProduct }; };
+template<>              struct product_type_selector<Small,1,    Large>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Small,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Small,Large,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Large,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Large,Small>  { enum { ret = GemmProduct }; };
+
+} // end namespace internal
+
+/** \class ProductReturnType
+  * \ingroup Core_Module
+  *
+  * \brief Helper class to get the correct and optimized returned type of operator*
+  *
+  * \param Lhs the type of the left-hand side
+  * \param Rhs the type of the right-hand side
+  * \param ProductMode the type of the product (determined automatically by internal::product_mode)
+  *
+  * This class defines the typename Type representing the optimized product expression
+  * between two matrix expressions. In practice, using ProductReturnType<Lhs,Rhs>::Type
+  * is the recommended way to define the result type of a function returning an expression
+  * which involve a matrix product. The class Product should never be
+  * used directly.
+  *
+  * \sa class Product, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
+  */
+template<typename Lhs, typename Rhs, int ProductType>
+struct ProductReturnType
+{
+  // TODO use the nested type to reduce instanciations ????
+//   typedef typename internal::nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+//   typedef typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+
+  typedef GeneralProduct<Lhs/*Nested*/, Rhs/*Nested*/, ProductType> Type;
+};
+
+template<typename Lhs, typename Rhs>
+struct ProductReturnType<Lhs,Rhs,CoeffBasedProductMode>
+{
+  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
+  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
+  typedef CoeffBasedProduct<LhsNested, RhsNested, EvalBeforeAssigningBit | EvalBeforeNestingBit> Type;
+};
+
+template<typename Lhs, typename Rhs>
+struct ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
+{
+  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
+  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
+  typedef CoeffBasedProduct<LhsNested, RhsNested, NestByRefBit> Type;
+};
+
+// this is a workaround for sun CC
+template<typename Lhs, typename Rhs>
+struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
+{};
+
+/***********************************************************************
+*  Implementation of Inner Vector Vector Product
+***********************************************************************/
+
+// FIXME : maybe the "inner product" could return a Scalar
+// instead of a 1x1 matrix ??
+// Pro: more natural for the user
+// Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix
+// product ends up to a row-vector times col-vector product... To tackle this use
+// case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
+
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,InnerProduct> >
+ : traits<Matrix<typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> >
+{};
+
+}
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, InnerProduct>
+  : internal::no_assignment_operator,
+    public Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1>
+{
+    typedef Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> Base;
+  public:
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+      Base::coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
+    }
+
+    /** Convertion to scalar */
+    operator const typename Base::Scalar() const {
+      return Base::coeff(0,0);
+    }
+};
+
+/***********************************************************************
+*  Implementation of Outer Vector Vector Product
+***********************************************************************/
+
+namespace internal {
+template<int StorageOrder> struct outer_product_selector;
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,OuterProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs> >
+{};
+
+}
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, OuterProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    }
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      internal::outer_product_selector<(int(Dest::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dest, alpha);
+    }
+};
+
+namespace internal {
+
+template<> struct outer_product_selector<ColMajor> {
+  template<typename ProductType, typename Dest>
+  static EIGEN_DONT_INLINE void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha) {
+    typedef typename Dest::Index Index;
+    // FIXME make sure lhs is sequentially stored
+    // FIXME not very good if rhs is real and lhs complex while alpha is real too
+    const Index cols = dest.cols();
+    for (Index j=0; j<cols; ++j)
+      dest.col(j) += (alpha * prod.rhs().coeff(j)) * prod.lhs();
+  }
+};
+
+template<> struct outer_product_selector<RowMajor> {
+  template<typename ProductType, typename Dest>
+  static EIGEN_DONT_INLINE void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha) {
+    typedef typename Dest::Index Index;
+    // FIXME make sure rhs is sequentially stored
+    // FIXME not very good if lhs is real and rhs complex while alpha is real too
+    const Index rows = dest.rows();
+    for (Index i=0; i<rows; ++i)
+      dest.row(i) += (alpha * prod.lhs().coeff(i)) * prod.rhs();
+  }
+};
+
+} // end namespace internal
+
+/***********************************************************************
+*  Implementation of General Matrix Vector Product
+***********************************************************************/
+
+/*  According to the shape/flags of the matrix we have to distinghish 3 different cases:
+ *   1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine
+ *   2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine
+ *   3 - all other cases are handled using a simple loop along the outer-storage direction.
+ *  Therefore we need a lower level meta selector.
+ *  Furthermore, if the matrix is the rhs, then the product has to be transposed.
+ */
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,GemvProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs> >
+{};
+
+template<int Side, int StorageOrder, bool BlasCompatible>
+struct gemv_selector;
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, GemvProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+
+    typedef typename Lhs::Scalar LhsScalar;
+    typedef typename Rhs::Scalar RhsScalar;
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+//       EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::Scalar, typename Rhs::Scalar>::value),
+//         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    }
+
+    enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
+    typedef typename internal::conditional<int(Side)==OnTheRight,_LhsNested,_RhsNested>::type MatrixType;
+
+    template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+    {
+      eigen_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols());
+      internal::gemv_selector<Side,(int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                       bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)>::run(*this, dst, alpha);
+    }
+};
+
+namespace internal {
+
+// The vector is on the left => transposition
+template<int StorageOrder, bool BlasCompatible>
+struct gemv_selector<OnTheLeft,StorageOrder,BlasCompatible>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    Transpose<Dest> destT(dest);
+    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
+    gemv_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
+      ::run(GeneralProduct<Transpose<const typename ProductType::_RhsNested>,Transpose<const typename ProductType::_LhsNested>, GemvProduct>
+        (prod.rhs().transpose(), prod.lhs().transpose()), destT, alpha);
+  }
+};
+
+template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,false>
+{
+  EIGEN_STRONG_INLINE  Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; }
+};
+
+template<typename Scalar,int Size>
+struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
+{
+  EIGEN_STRONG_INLINE Scalar* data() { return 0; }
+};
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
+{
+  #if EIGEN_ALIGN_STATICALLY
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0> m_data;
+  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
+  #else
+  // Some architectures cannot align on the stack,
+  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
+  enum {
+    ForceAlignment  = internal::packet_traits<Scalar>::Vectorizable,
+    PacketSize      = internal::packet_traits<Scalar>::size
+  };
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?PacketSize:0),0> m_data;
+  EIGEN_STRONG_INLINE Scalar* data() {
+    return ForceAlignment
+            ? reinterpret_cast<Scalar*>((reinterpret_cast<size_t>(m_data.array) & ~(size_t(15))) + 16)
+            : m_data.array;
+  }
+  #endif
+};
+
+template<> struct gemv_selector<OnTheRight,ColMajor,true>
+{
+  template<typename ProductType, typename Dest>
+  static inline void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::LhsScalar   LhsScalar;
+    typedef typename ProductType::RhsScalar   RhsScalar;
+    typedef typename ProductType::Scalar      ResScalar;
+    typedef typename ProductType::RealScalar  RealScalar;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+
+    const ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
+    const ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+    };
+
+    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+    // this is written like this (i.e., with a ?:) to workaround an ICE with ICC 12
+    bool alphaIsCompatible = (!ComplexByReal) ? true : (imag(actualAlpha)==RealScalar(0));
+    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+    
+    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                  evalToDest ? dest.data() : static_dest.data());
+    
+    if(!evalToDest)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if(!alphaIsCompatible)
+      {
+        MappedDest(actualDestPtr, dest.size()).setZero();
+        compatibleAlpha = RhsScalar(1);
+      }
+      else
+        MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+
+    general_matrix_vector_product
+      <Index,LhsScalar,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        actualLhs.rows(), actualLhs.cols(),
+        &actualLhs.coeffRef(0,0), actualLhs.outerStride(),
+        actualRhs.data(), actualRhs.innerStride(),
+        actualDestPtr, 1,
+        compatibleAlpha);
+
+    if (!evalToDest)
+    {
+      if(!alphaIsCompatible)
+        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
+      else
+        dest = MappedDest(actualDestPtr, dest.size());
+    }
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,RowMajor,true>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename ProductType::LhsScalar LhsScalar;
+    typedef typename ProductType::RhsScalar RhsScalar;
+    typedef typename ProductType::Scalar    ResScalar;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::_ActualRhsType _ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+    };
+
+    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
+        DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
+
+    if(!DirectlyUseRhs)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = actualRhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+    }
+
+    general_matrix_vector_product
+      <Index,LhsScalar,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        actualLhs.rows(), actualLhs.cols(),
+        &actualLhs.coeffRef(0,0), actualLhs.outerStride(),
+        actualRhsPtr, 1,
+        &dest.coeffRef(0,0), dest.innerStride(),
+        actualAlpha);
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,ColMajor,false>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename Dest::Index Index;
+    // TODO makes sure dest is sequentially stored in memory, otherwise use a temp
+    const Index size = prod.rhs().rows();
+    for(Index k=0; k<size; ++k)
+      dest += (alpha*prod.rhs().coeff(k)) * prod.lhs().col(k);
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,RowMajor,false>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename Dest::Index Index;
+    // TODO makes sure rhs is sequentially stored in memory, otherwise use a temp
+    const Index rows = prod.rows();
+    for(Index i=0; i<rows; ++i)
+      dest.coeffRef(i) += alpha * (prod.lhs().row(i).cwiseProduct(prod.rhs().transpose())).sum();
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \returns the matrix product of \c *this and \a other.
+  *
+  * \note If instead of the matrix product you want the coefficient-wise product, see Cwise::operator*().
+  *
+  * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename ProductReturnType<Derived,OtherDerived>::Type
+MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  // A note regarding the function declaration: In MSVC, this function will sometimes
+  // not be inlined since DenseStorage is an unwindable object for dynamic
+  // matrices and product types are holding a member to store the result.
+  // Thus it does not help tagging this function with EIGEN_STRONG_INLINE.
+  enum {
+    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
+                   || OtherDerived::RowsAtCompileTime==Dynamic
+                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  };
+  // note to the lost user:
+  //    * for a dot product use: v1.dot(v2)
+  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+#ifdef EIGEN_DEBUG_PRODUCT
+  internal::product_type<Derived,OtherDerived>::debug();
+#endif
+  return typename ProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+/** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
+  *
+  * The returned product will behave like any other expressions: the coefficients of the product will be
+  * computed once at a time as requested. This might be useful in some extremely rare cases when only
+  * a small and no coherent fraction of the result's coefficients have to be computed.
+  *
+  * \warning This version of the matrix product can be much much slower. So use it only if you know
+  * what you are doing and that you measured a true speed improvement.
+  *
+  * \sa operator*(const MatrixBase&)
+  */
+template<typename Derived>
+template<typename OtherDerived>
+const typename LazyProductReturnType<Derived,OtherDerived>::Type
+MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
+{
+  enum {
+    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
+                   || OtherDerived::RowsAtCompileTime==Dynamic
+                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  };
+  // note to the lost user:
+  //    * for a dot product use: v1.dot(v2)
+  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+
+  return typename LazyProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_PRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Core/ProductBase.h b/extern/Eigen3/Eigen/src/Core/ProductBase.h
new file mode 100644
index 00000000000..3bd3487d6a2
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/ProductBase.h
@@ -0,0 +1,288 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PRODUCTBASE_H
+#define EIGEN_PRODUCTBASE_H
+
+/** \class ProductBase
+  * \ingroup Core_Module
+  *
+  */
+
+namespace internal {
+template<typename Derived, typename _Lhs, typename _Rhs>
+struct traits<ProductBase<Derived,_Lhs,_Rhs> >
+{
+  typedef MatrixXpr XprKind;
+  typedef typename remove_all<_Lhs>::type Lhs;
+  typedef typename remove_all<_Rhs>::type Rhs;
+  typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
+  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
+                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  enum {
+    RowsAtCompileTime = traits<Lhs>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Rhs>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Lhs>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Rhs>::MaxColsAtCompileTime,
+    Flags = (MaxRowsAtCompileTime==1 ? RowMajorBit : 0)
+          | EvalBeforeNestingBit | EvalBeforeAssigningBit | NestByRefBit,
+                  // Note that EvalBeforeNestingBit and NestByRefBit
+                  // are not used in practice because nested is overloaded for products
+    CoeffReadCost = 0 // FIXME why is it needed ?
+  };
+};
+}
+
+#define EIGEN_PRODUCT_PUBLIC_INTERFACE(Derived) \
+  typedef ProductBase<Derived, Lhs, Rhs > Base; \
+  EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  typedef typename Base::LhsNested LhsNested; \
+  typedef typename Base::_LhsNested _LhsNested; \
+  typedef typename Base::LhsBlasTraits LhsBlasTraits; \
+  typedef typename Base::ActualLhsType ActualLhsType; \
+  typedef typename Base::_ActualLhsType _ActualLhsType; \
+  typedef typename Base::RhsNested RhsNested; \
+  typedef typename Base::_RhsNested _RhsNested; \
+  typedef typename Base::RhsBlasTraits RhsBlasTraits; \
+  typedef typename Base::ActualRhsType ActualRhsType; \
+  typedef typename Base::_ActualRhsType _ActualRhsType; \
+  using Base::m_lhs; \
+  using Base::m_rhs;
+
+template<typename Derived, typename Lhs, typename Rhs>
+class ProductBase : public MatrixBase<Derived>
+{
+  public:
+    typedef MatrixBase<Derived> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ProductBase)
+    
+    typedef typename Lhs::Nested LhsNested;
+    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
+    typedef internal::blas_traits<_LhsNested> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef typename internal::remove_all<ActualLhsType>::type _ActualLhsType;
+    typedef typename internal::traits<Lhs>::Scalar LhsScalar;
+
+    typedef typename Rhs::Nested RhsNested;
+    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
+    typedef internal::blas_traits<_RhsNested> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type _ActualRhsType;
+    typedef typename internal::traits<Rhs>::Scalar RhsScalar;
+
+    // Diagonal of a product: no need to evaluate the arguments because they are going to be evaluated only once
+    typedef CoeffBasedProduct<LhsNested, RhsNested, 0> FullyLazyCoeffBaseProductType;
+
+  public:
+
+    typedef typename Base::PlainObject PlainObject;
+
+    ProductBase(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    inline Index rows() const { return m_lhs.rows(); }
+    inline Index cols() const { return m_rhs.cols(); }
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,Scalar(1)); }
+
+    template<typename Dest>
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,1); }
+
+    template<typename Dest>
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-1); }
+
+    template<typename Dest>
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { derived().scaleAndAddTo(dst,alpha); }
+
+    const _LhsNested& lhs() const { return m_lhs; }
+    const _RhsNested& rhs() const { return m_rhs; }
+
+    // Implicit conversion to the nested type (trigger the evaluation of the product)
+    operator const PlainObject& () const
+    {
+      m_result.resize(m_lhs.rows(), m_rhs.cols());
+      derived().evalTo(m_result);
+      return m_result;
+    }
+
+    const Diagonal<const FullyLazyCoeffBaseProductType,0> diagonal() const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
+
+    template<int Index>
+    const Diagonal<FullyLazyCoeffBaseProductType,Index> diagonal() const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
+
+    const Diagonal<FullyLazyCoeffBaseProductType,Dynamic> diagonal(Index index) const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs).diagonal(index); }
+
+    // restrict coeff accessors to 1x1 expressions. No need to care about mutators here since this isnt a Lvalue expression
+    typename Base::CoeffReturnType coeff(Index row, Index col) const
+    {
+#ifdef EIGEN2_SUPPORT
+      return lhs().row(row).cwiseProduct(rhs().col(col).transpose()).sum();
+#else
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(row,col);
+#endif
+    }
+
+    typename Base::CoeffReturnType coeff(Index i) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(i);
+    }
+
+    const Scalar& coeffRef(Index row, Index col) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeffRef(row,col);
+    }
+
+    const Scalar& coeffRef(Index i) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeffRef(i);
+    }
+
+  protected:
+
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+
+    mutable PlainObject m_result;
+};
+
+// here we need to overload the nested rule for products
+// such that the nested type is a const reference to a plain matrix
+namespace internal {
+template<typename Lhs, typename Rhs, int Mode, int N, typename PlainObject>
+struct nested<GeneralProduct<Lhs,Rhs,Mode>, N, PlainObject>
+{
+  typedef PlainObject const& type;
+};
+}
+
+template<typename NestedProduct>
+class ScaledProduct;
+
+// Note that these two operator* functions are not defined as member
+// functions of ProductBase, because, otherwise we would have to
+// define all overloads defined in MatrixBase. Furthermore, Using
+// "using Base::operator*" would not work with MSVC.
+//
+// Also note that here we accept any compatible scalar types
+template<typename Derived,typename Lhs,typename Rhs>
+const ScaledProduct<Derived>
+operator*(const ProductBase<Derived,Lhs,Rhs>& prod, typename Derived::Scalar x)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+template<typename Derived,typename Lhs,typename Rhs>
+typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
+                      const ScaledProduct<Derived> >::type
+operator*(const ProductBase<Derived,Lhs,Rhs>& prod, typename Derived::RealScalar x)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+
+template<typename Derived,typename Lhs,typename Rhs>
+const ScaledProduct<Derived>
+operator*(typename Derived::Scalar x,const ProductBase<Derived,Lhs,Rhs>& prod)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+template<typename Derived,typename Lhs,typename Rhs>
+typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
+                      const ScaledProduct<Derived> >::type
+operator*(typename Derived::RealScalar x,const ProductBase<Derived,Lhs,Rhs>& prod)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+namespace internal {
+template<typename NestedProduct>
+struct traits<ScaledProduct<NestedProduct> >
+ : traits<ProductBase<ScaledProduct<NestedProduct>,
+                         typename NestedProduct::_LhsNested,
+                         typename NestedProduct::_RhsNested> >
+{
+  typedef typename traits<NestedProduct>::StorageKind StorageKind;
+};
+}
+
+template<typename NestedProduct>
+class ScaledProduct
+  : public ProductBase<ScaledProduct<NestedProduct>,
+                       typename NestedProduct::_LhsNested,
+                       typename NestedProduct::_RhsNested>
+{
+  public:
+    typedef ProductBase<ScaledProduct<NestedProduct>,
+                       typename NestedProduct::_LhsNested,
+                       typename NestedProduct::_RhsNested> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::PlainObject PlainObject;
+//     EIGEN_PRODUCT_PUBLIC_INTERFACE(ScaledProduct)
+
+    ScaledProduct(const NestedProduct& prod, Scalar x)
+    : Base(prod.lhs(),prod.rhs()), m_prod(prod), m_alpha(x) {}
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,m_alpha); }
+
+    template<typename Dest>
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,m_alpha); }
+
+    template<typename Dest>
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-m_alpha); }
+
+    template<typename Dest>
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha); }
+
+    const Scalar& alpha() const { return m_alpha; }
+    
+  protected:
+    const NestedProduct& m_prod;
+    Scalar m_alpha;
+};
+
+/** \internal
+  * Overloaded to perform an efficient C = (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+
+#endif // EIGEN_PRODUCTBASE_H
diff --git a/extern/Eigen2/Eigen/src/Array/Random.h b/extern/Eigen3/Eigen/src/Core/Random.h
index 9185fe4a7d3..b7d90103a5b 100644
--- a/extern/Eigen2/Eigen/src/Array/Random.h
+++ b/extern/Eigen3/Eigen/src/Core/Random.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,42 +25,46 @@
 #ifndef EIGEN_RANDOM_H
 #define EIGEN_RANDOM_H
 
-template<typename Scalar> struct ei_scalar_random_op EIGEN_EMPTY_STRUCT {
-  inline ei_scalar_random_op(void) {}
-  inline const Scalar operator() (int, int) const { return ei_random<Scalar>(); }
+namespace internal {
+
+template<typename Scalar> struct scalar_random_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
+  template<typename Index>
+  inline const Scalar operator() (Index, Index = 0) const { return random<Scalar>(); }
 };
+
 template<typename Scalar>
-struct ei_functor_traits<ei_scalar_random_op<Scalar> >
+struct functor_traits<scalar_random_op<Scalar> >
 { enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false, IsRepeatable = false }; };
 
-/** \array_module
-  * 
-  * \returns a random matrix (not an expression, the matrix is immediately evaluated).
+} // end namespace internal
+
+/** \returns a random matrix expression
   *
   * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so ei_random() should be used
+  * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
   * instead.
   *
-  * \addexample RandomExample \label How to create a matrix with random coefficients
-  *
   * Example: \include MatrixBase_random_int_int.cpp
   * Output: \verbinclude MatrixBase_random_int_int.out
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(int), MatrixBase::Random()
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index), MatrixBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived>
-MatrixBase<Derived>::Random(int rows, int cols)
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random(Index rows, Index cols)
 {
-  return NullaryExpr(rows, cols, ei_scalar_random_op<Scalar>());
+  return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
 }
 
-/** \array_module
-  * 
-  * \returns a random vector (not an expression, the vector is immediately evaluated).
+/** \returns a random vector expression
   *
   * The parameter \a size is the size of the returned vector.
   * Must be compatible with this MatrixBase type.
@@ -68,25 +72,26 @@ MatrixBase<Derived>::Random(int rows, int cols)
   * \only_for_vectors
   *
   * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so ei_random() should be used
+  * it is redundant to pass \a size as argument, so Random() should be used
   * instead.
   *
   * Example: \include MatrixBase_random_int.cpp
   * Output: \verbinclude MatrixBase_random_int.out
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(int,int), MatrixBase::Random()
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived>
-MatrixBase<Derived>::Random(int size)
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random(Index size)
 {
-  return NullaryExpr(size, ei_scalar_random_op<Scalar>());
+  return NullaryExpr(size, internal::scalar_random_op<Scalar>());
 }
 
-/** \array_module
-  * 
-  * \returns a fixed-size random matrix or vector
-  * (not an expression, the matrix is immediately evaluated).
+/** \returns a fixed-size random matrix or vector expression
   *
   * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
   * need to use the variants taking size arguments.
@@ -94,26 +99,28 @@ MatrixBase<Derived>::Random(int size)
   * Example: \include MatrixBase_random.cpp
   * Output: \verbinclude MatrixBase_random.out
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(int,int), MatrixBase::Random(int)
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random(Index)
   */
 template<typename Derived>
-inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived>
-MatrixBase<Derived>::Random()
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random()
 {
-  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, ei_scalar_random_op<Scalar>());
+  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
 }
 
-/** \array_module
-  * 
-  * Sets all coefficients in this expression to random values.
+/** Sets all coefficients in this expression to random values.
   *
   * Example: \include MatrixBase_setRandom.cpp
   * Output: \verbinclude MatrixBase_setRandom.out
   *
-  * \sa class CwiseNullaryOp, setRandom(int), setRandom(int,int)
+  * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index)
   */
 template<typename Derived>
-inline Derived& MatrixBase<Derived>::setRandom()
+inline Derived& DenseBase<Derived>::setRandom()
 {
   return *this = Random(rows(), cols());
 }
@@ -125,11 +132,11 @@ inline Derived& MatrixBase<Derived>::setRandom()
   * Example: \include Matrix_setRandom_int.cpp
   * Output: \verbinclude Matrix_setRandom_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(int,int), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa MatrixBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, MatrixBase::Random()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setRandom(int size)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index size)
 {
   resize(size);
   return setRandom();
@@ -143,11 +150,11 @@ Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setRandom(int size)
   * Example: \include Matrix_setRandom_int_int.cpp
   * Output: \verbinclude Matrix_setRandom_int_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(int), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa MatrixBase::setRandom(), setRandom(Index), class CwiseNullaryOp, MatrixBase::Random()
   */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setRandom(int rows, int cols)
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
 {
   resize(rows, cols);
   return setRandom();
diff --git a/extern/Eigen3/Eigen/src/Core/Redux.h b/extern/Eigen3/Eigen/src/Core/Redux.h
new file mode 100644
index 00000000000..f9f5a95d546
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Redux.h
@@ -0,0 +1,404 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REDUX_H
+#define EIGEN_REDUX_H
+
+namespace internal {
+
+// TODO
+//  * implement other kind of vectorization
+//  * factorize code
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for vectorization and unrolling
+***************************************************************************/
+
+template<typename Func, typename Derived>
+struct redux_traits
+{
+public:
+  enum {
+    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    InnerMaxSize = int(Derived::IsRowMajor)
+                 ? Derived::MaxColsAtCompileTime
+                 : Derived::MaxRowsAtCompileTime
+  };
+
+  enum {
+    MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
+                  && (functor_traits<Func>::PacketAccess),
+    MayLinearVectorize = MightVectorize && (int(Derived::Flags)&LinearAccessBit),
+    MaySliceVectorize  = MightVectorize && int(InnerMaxSize)>=3*PacketSize
+  };
+
+public:
+  enum {
+    Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
+                                        : int(DefaultTraversal)
+  };
+
+public:
+  enum {
+    Cost = (  Derived::SizeAtCompileTime == Dynamic
+           || Derived::CoeffReadCost == Dynamic
+           || (Derived::SizeAtCompileTime!=1 && functor_traits<Func>::Cost == Dynamic)
+           ) ? Dynamic
+           : Derived::SizeAtCompileTime * Derived::CoeffReadCost
+               + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
+  };
+
+public:
+  enum {
+    Unrolling = Cost != Dynamic && Cost <= UnrollingLimit
+              ? CompleteUnrolling
+              : NoUnrolling
+  };
+};
+
+/***************************************************************************
+* Part 2 : unrollers
+***************************************************************************/
+
+/*** no vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_novec_unroller
+{
+  enum {
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  EIGEN_STRONG_INLINE static Scalar run(const Derived &mat, const Func& func)
+  {
+    return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+                redux_novec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func));
+  }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 1>
+{
+  enum {
+    outer = Start / Derived::InnerSizeAtCompileTime,
+    inner = Start % Derived::InnerSizeAtCompileTime
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  EIGEN_STRONG_INLINE static Scalar run(const Derived &mat, const Func&)
+  {
+    return mat.coeffByOuterInner(outer, inner);
+  }
+};
+
+// This is actually dead code and will never be called. It is required
+// to prevent false warnings regarding failed inlining though
+// for 0 length run() will never be called at all.
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 0>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_STRONG_INLINE static Scalar run(const Derived&, const Func&) { return Scalar(); }
+};
+
+/*** vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_vec_unroller
+{
+  enum {
+    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  EIGEN_STRONG_INLINE static PacketScalar run(const Derived &mat, const Func& func)
+  {
+    return func.packetOp(
+            redux_vec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+            redux_vec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func) );
+  }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_vec_unroller<Func, Derived, Start, 1>
+{
+  enum {
+    index = Start * packet_traits<typename Derived::Scalar>::size,
+    outer = index / int(Derived::InnerSizeAtCompileTime),
+    inner = index % int(Derived::InnerSizeAtCompileTime),
+    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  EIGEN_STRONG_INLINE static PacketScalar run(const Derived &mat, const Func&)
+  {
+    return mat.template packetByOuterInner<alignment>(outer, inner);
+  }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Func, typename Derived,
+         int Traversal = redux_traits<Func, Derived>::Traversal,
+         int Unrolling = redux_traits<Func, Derived>::Unrolling
+>
+struct redux_impl;
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Index Index;
+  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    Scalar res;
+    res = mat.coeffByOuterInner(0, 0);
+    for(Index i = 1; i < mat.innerSize(); ++i)
+      res = func(res, mat.coeffByOuterInner(0, i));
+    for(Index i = 1; i < mat.outerSize(); ++i)
+      for(Index j = 0; j < mat.innerSize(); ++j)
+        res = func(res, mat.coeffByOuterInner(i, j));
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func,Derived, DefaultTraversal, CompleteUnrolling>
+  : public redux_novec_unroller<Func,Derived, 0, Derived::SizeAtCompileTime>
+{};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename Derived::Index Index;
+
+  static Scalar run(const Derived& mat, const Func& func)
+  {
+    const Index size = mat.size();
+    eigen_assert(size && "you are using an empty matrix");
+    const Index packetSize = packet_traits<Scalar>::size;
+    const Index alignedStart = first_aligned(mat);
+    enum {
+      alignment = bool(Derived::Flags & DirectAccessBit) || bool(Derived::Flags & AlignedBit)
+                ? Aligned : Unaligned
+    };
+    const Index alignedSize = ((size-alignedStart)/packetSize)*packetSize;
+    const Index alignedEnd = alignedStart + alignedSize;
+    Scalar res;
+    if(alignedSize)
+    {
+      PacketScalar packet_res = mat.template packet<alignment>(alignedStart);
+      for(Index index = alignedStart + packetSize; index < alignedEnd; index += packetSize)
+        packet_res = func.packetOp(packet_res, mat.template packet<alignment>(index));
+      res = func.predux(packet_res);
+
+      for(Index index = 0; index < alignedStart; ++index)
+        res = func(res,mat.coeff(index));
+
+      for(Index index = alignedEnd; index < size; ++index)
+        res = func(res,mat.coeff(index));
+    }
+    else // too small to vectorize anything.
+         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+    {
+      res = mat.coeff(0);
+      for(Index index = 1; index < size; ++index)
+        res = func(res,mat.coeff(index));
+    }
+
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, SliceVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename Derived::Index Index;
+
+  static Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    const Index innerSize = mat.innerSize();
+    const Index outerSize = mat.outerSize();
+    enum {
+      packetSize = packet_traits<Scalar>::size
+    };
+    const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
+    Scalar res;
+    if(packetedInnerSize)
+    {
+      PacketScalar packet_res = mat.template packet<Unaligned>(0,0);
+      for(Index j=0; j<outerSize; ++j)
+        for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
+          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned>(j,i));
+
+      res = func.predux(packet_res);
+      for(Index j=0; j<outerSize; ++j)
+        for(Index i=packetedInnerSize; i<innerSize; ++i)
+          res = func(res, mat.coeffByOuterInner(j,i));
+    }
+    else // too small to vectorize anything.
+         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+    {
+      res = redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>::run(mat, func);
+    }
+
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  enum {
+    PacketSize = packet_traits<Scalar>::size,
+    Size = Derived::SizeAtCompileTime,
+    VectorizedSize = (Size / PacketSize) * PacketSize
+  };
+  EIGEN_STRONG_INLINE static Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+    if (VectorizedSize != Size)
+      res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+    return res;
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Part 4 : public API
+***************************************************************************/
+
+
+/** \returns the result of a full redux operation on the whole matrix or vector using \a func
+  *
+  * The template parameter \a BinaryOp is the type of the functor \a func which must be
+  * an associative operator. Both current STL and TR1 functor styles are handled.
+  *
+  * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
+  */
+template<typename Derived>
+template<typename Func>
+EIGEN_STRONG_INLINE typename internal::result_of<Func(typename internal::traits<Derived>::Scalar)>::type
+DenseBase<Derived>::redux(const Func& func) const
+{
+  typedef typename internal::remove_all<typename Derived::Nested>::type ThisNested;
+  return internal::redux_impl<Func, ThisNested>
+            ::run(derived(), func);
+}
+
+/** \returns the minimum of all coefficients of *this
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff() const
+{
+  return this->redux(Eigen::internal::scalar_min_op<Scalar>());
+}
+
+/** \returns the maximum of all coefficients of *this
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff() const
+{
+  return this->redux(Eigen::internal::scalar_max_op<Scalar>());
+}
+
+/** \returns the sum of all coefficients of *this
+  *
+  * \sa trace(), prod(), mean()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::sum() const
+{
+  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+    return Scalar(0);
+  return this->redux(Eigen::internal::scalar_sum_op<Scalar>());
+}
+
+/** \returns the mean of all coefficients of *this
+*
+* \sa trace(), prod(), sum()
+*/
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::mean() const
+{
+  return Scalar(this->redux(Eigen::internal::scalar_sum_op<Scalar>())) / Scalar(this->size());
+}
+
+/** \returns the product of all coefficients of *this
+  *
+  * Example: \include MatrixBase_prod.cpp
+  * Output: \verbinclude MatrixBase_prod.out
+  *
+  * \sa sum(), mean(), trace()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::prod() const
+{
+  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+    return Scalar(1);
+  return this->redux(Eigen::internal::scalar_product_op<Scalar>());
+}
+
+/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
+  *
+  * \c *this can be any matrix, not necessarily square.
+  *
+  * \sa diagonal(), sum()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+MatrixBase<Derived>::trace() const
+{
+  return derived().diagonal().sum();
+}
+
+#endif // EIGEN_REDUX_H
diff --git a/extern/Eigen3/Eigen/src/Core/Replicate.h b/extern/Eigen3/Eigen/src/Core/Replicate.h
new file mode 100644
index 00000000000..d2f9712db0f
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Replicate.h
@@ -0,0 +1,179 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REPLICATE_H
+#define EIGEN_REPLICATE_H
+
+/**
+  * \class Replicate
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the multiple replication of a matrix or vector
+  *
+  * \param MatrixType the type of the object we are replicating
+  *
+  * This class represents an expression of the multiple replication of a matrix or vector.
+  * It is the return type of DenseBase::replicate() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa DenseBase::replicate()
+  */
+
+namespace internal {
+template<typename MatrixType,int RowFactor,int ColFactor>
+struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
+ : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
+                      ? Dynamic
+                      : RowFactor * MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
+                      ? Dynamic
+                      : ColFactor * MatrixType::ColsAtCompileTime,
+   //FIXME we don't propagate the max sizes !!!
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
+               : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
+               : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
+    Flags = (_MatrixTypeNested::Flags & HereditaryBits & ~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0),
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+}
+
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
+  : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Replicate>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
+
+    template<typename OriginalMatrixType>
+    inline explicit Replicate(const OriginalMatrixType& matrix)
+      : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+      eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic);
+    }
+
+    template<typename OriginalMatrixType>
+    inline Replicate(const OriginalMatrixType& matrix, int rowFactor, int colFactor)
+      : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+    }
+
+    inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
+    inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      // try to avoid using modulo; this is a pure optimization strategy
+      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
+                            : RowFactor==1 ? row
+                            : row%m_matrix.rows();
+      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
+                            : ColFactor==1 ? col
+                            : col%m_matrix.cols();
+
+      return m_matrix.coeff(actual_row, actual_col);
+    }
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
+                            : RowFactor==1 ? row
+                            : row%m_matrix.rows();
+      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
+                            : ColFactor==1 ? col
+                            : col%m_matrix.cols();
+
+      return m_matrix.template packet<LoadMode>(actual_row, actual_col);
+    }
+
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+    const internal::variable_if_dynamic<Index, RowFactor> m_rowFactor;
+    const internal::variable_if_dynamic<Index, ColFactor> m_colFactor;
+};
+
+/**
+  * \return an expression of the replication of \c *this
+  *
+  * Example: \include MatrixBase_replicate.cpp
+  * Output: \verbinclude MatrixBase_replicate.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate
+  */
+template<typename Derived>
+template<int RowFactor, int ColFactor>
+inline const Replicate<Derived,RowFactor,ColFactor>
+DenseBase<Derived>::replicate() const
+{
+  return Replicate<Derived,RowFactor,ColFactor>(derived());
+}
+
+/**
+  * \return an expression of the replication of \c *this
+  *
+  * Example: \include MatrixBase_replicate_int_int.cpp
+  * Output: \verbinclude MatrixBase_replicate_int_int.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
+  */
+template<typename Derived>
+inline const Replicate<Derived,Dynamic,Dynamic>
+DenseBase<Derived>::replicate(Index rowFactor,Index colFactor) const
+{
+  return Replicate<Derived,Dynamic,Dynamic>(derived(),rowFactor,colFactor);
+}
+
+/**
+  * \return an expression of the replication of each column (or row) of \c *this
+  *
+  * Example: \include DirectionWise_replicate_int.cpp
+  * Output: \verbinclude DirectionWise_replicate_int.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate
+  */
+template<typename ExpressionType, int Direction>
+const typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+VectorwiseOp<ExpressionType,Direction>::replicate(Index factor) const
+{
+  return typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+}
+
+#endif // EIGEN_REPLICATE_H
diff --git a/extern/Eigen3/Eigen/src/Core/ReturnByValue.h b/extern/Eigen3/Eigen/src/Core/ReturnByValue.h
new file mode 100644
index 00000000000..24c5a4e215d
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/ReturnByValue.h
@@ -0,0 +1,99 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_RETURNBYVALUE_H
+#define EIGEN_RETURNBYVALUE_H
+
+/** \class ReturnByValue
+  * \ingroup Core_Module
+  *
+  */
+
+namespace internal {
+
+template<typename Derived>
+struct traits<ReturnByValue<Derived> >
+  : public traits<typename traits<Derived>::ReturnType>
+{
+  enum {
+    // We're disabling the DirectAccess because e.g. the constructor of
+    // the Block-with-DirectAccess expression requires to have a coeffRef method.
+    // Also, we don't want to have to implement the stride stuff.
+    Flags = (traits<typename traits<Derived>::ReturnType>::Flags
+             | EvalBeforeNestingBit) & ~DirectAccessBit
+  };
+};
+
+/* The ReturnByValue object doesn't even have a coeff() method.
+ * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix.
+ * So internal::nested always gives the plain return matrix type.
+ *
+ * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
+ */
+template<typename Derived,int n,typename PlainObject>
+struct nested<ReturnByValue<Derived>, n, PlainObject>
+{
+  typedef typename traits<Derived>::ReturnType type;
+};
+
+} // end namespace internal
+
+template<typename Derived> class ReturnByValue
+  : public internal::dense_xpr_base< ReturnByValue<Derived> >::type
+{
+  public:
+    typedef typename internal::traits<Derived>::ReturnType ReturnType;
+
+    typedef typename internal::dense_xpr_base<ReturnByValue>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const
+    { static_cast<const Derived*>(this)->evalTo(dst); }
+    inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
+    inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+#define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
+    class Unusable{
+      Unusable(const Unusable&) {}
+      Unusable& operator=(const Unusable&) {return *this;}
+    };
+    const Unusable& coeff(Index) const { return *reinterpret_cast<const Unusable*>(this); }
+    const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
+    Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
+    Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
+#endif
+};
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  other.evalTo(derived());
+  return derived();
+}
+
+#endif // EIGEN_RETURNBYVALUE_H
diff --git a/extern/Eigen3/Eigen/src/Core/Reverse.h b/extern/Eigen3/Eigen/src/Core/Reverse.h
new file mode 100644
index 00000000000..600744ae758
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Reverse.h
@@ -0,0 +1,230 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REVERSE_H
+#define EIGEN_REVERSE_H
+
+/** \class Reverse
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the reverse of a vector or matrix
+  *
+  * \param MatrixType the type of the object of which we are taking the reverse
+  *
+  * This class represents an expression of the reverse of a vector.
+  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
+  */
+
+namespace internal {
+
+template<typename MatrixType, int Direction>
+struct traits<Reverse<MatrixType, Direction> >
+ : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+
+    // let's enable LinearAccess only with vectorization because of the product overhead
+    LinearAccess = ( (Direction==BothDirections) && (int(_MatrixTypeNested::Flags)&PacketAccessBit) )
+                 ? LinearAccessBit : 0,
+
+    Flags = int(_MatrixTypeNested::Flags) & (HereditaryBits | LvalueBit | PacketAccessBit | LinearAccess),
+
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+
+template<typename PacketScalar, bool ReversePacket> struct reverse_packet_cond
+{
+  static inline PacketScalar run(const PacketScalar& x) { return preverse(x); }
+};
+
+template<typename PacketScalar> struct reverse_packet_cond<PacketScalar,false>
+{
+  static inline PacketScalar run(const PacketScalar& x) { return x; }
+};
+
+} // end namespace internal 
+
+template<typename MatrixType, int Direction> class Reverse
+  : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Reverse>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
+    using Base::IsRowMajor;
+
+    // next line is necessary because otherwise const version of operator()
+    // is hidden by non-const version defined in this file
+    using Base::operator(); 
+
+  protected:
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      IsColMajor = !IsRowMajor,
+      ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
+      ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1,
+      ReversePacket = (Direction == BothDirections)
+                    || ((Direction == Vertical)   && IsColMajor)
+                    || ((Direction == Horizontal) && IsRowMajor)
+    };
+    typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
+  public:
+
+    inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    inline Index innerStride() const
+    {
+      return -m_matrix.innerStride();
+    }
+
+    inline Scalar& operator()(Index row, Index col)
+    {
+      eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
+      return coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_matrix.const_cast_derived().coeffRef(ReverseRow ? m_matrix.rows() - row - 1 : row,
+                                                    ReverseCol ? m_matrix.cols() - col - 1 : col);
+    }
+
+    inline CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(ReverseRow ? m_matrix.rows() - row - 1 : row,
+                            ReverseCol ? m_matrix.cols() - col - 1 : col);
+    }
+
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(m_matrix.size() - index - 1);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_matrix.const_cast_derived().coeffRef(m_matrix.size() - index - 1);
+    }
+
+    inline Scalar& operator()(Index index)
+    {
+      eigen_assert(index >= 0 && index < m_matrix.size());
+      return coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return reverse_packet::run(m_matrix.template packet<LoadMode>(
+                                    ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
+                                    ReverseCol ? m_matrix.cols() - col - OffsetCol : col));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(
+                                      ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
+                                      ReverseCol ? m_matrix.cols() - col - OffsetCol : col,
+                                      reverse_packet::run(x));
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return internal::preverse(m_matrix.template packet<LoadMode>( m_matrix.size() - index - PacketSize ));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(m_matrix.size() - index - PacketSize, internal::preverse(x));
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+/** \returns an expression of the reverse of *this.
+  *
+  * Example: \include MatrixBase_reverse.cpp
+  * Output: \verbinclude MatrixBase_reverse.out
+  *
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::ReverseReturnType
+DenseBase<Derived>::reverse()
+{
+  return derived();
+}
+
+/** This is the const version of reverse(). */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstReverseReturnType
+DenseBase<Derived>::reverse() const
+{
+  return derived();
+}
+
+/** This is the "in place" version of reverse: it reverses \c *this.
+  *
+  * In most cases it is probably better to simply use the reversed expression
+  * of a matrix. However, when reversing the matrix data itself is really needed,
+  * then this "in-place" version is probably the right choice because it provides
+  * the following additional features:
+  *  - less error prone: doing the same operation with .reverse() requires special care:
+  *    \code m = m.reverse().eval(); \endcode
+  *  - this API allows to avoid creating a temporary (the current implementation creates a temporary, but that could be avoided using swap)
+  *  - it allows future optimizations (cache friendliness, etc.)
+  *
+  * \sa reverse() */
+template<typename Derived>
+inline void DenseBase<Derived>::reverseInPlace()
+{
+  derived() = derived().reverse().eval();
+}
+
+
+#endif // EIGEN_REVERSE_H
diff --git a/extern/Eigen2/Eigen/src/Array/Select.h b/extern/Eigen3/Eigen/src/Core/Select.h
index 9dc3fb1b27a..d0cd66a261a 100644
--- a/extern/Eigen2/Eigen/src/Array/Select.h
+++ b/extern/Eigen3/Eigen/src/Core/Select.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,9 +25,8 @@
 #ifndef EIGEN_SELECT_H
 #define EIGEN_SELECT_H
 
-/** \array_module \ingroup Array
-  *
-  * \class Select
+/** \class Select
+  * \ingroup Core_Module
   *
   * \brief Expression of a coefficient wise version of the C++ ternary operator ?:
   *
@@ -36,15 +35,19 @@
   * \param ElseMatrixType the type of the \em else expression
   *
   * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:.
-  * It is the return type of MatrixBase::select() and most of the time this is the only way it is used.
+  * It is the return type of DenseBase::select() and most of the time this is the only way it is used.
   *
-  * \sa MatrixBase::select(const MatrixBase<ThenDerived>&, const MatrixBase<ElseDerived>&) const
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const
   */
 
+namespace internal {
 template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-struct ei_traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+ : traits<ThenMatrixType>
 {
-  typedef typename ei_traits<ThenMatrixType>::Scalar Scalar;
+  typedef typename traits<ThenMatrixType>::Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef typename traits<ThenMatrixType>::XprKind XprKind;
   typedef typename ConditionMatrixType::Nested ConditionMatrixNested;
   typedef typename ThenMatrixType::Nested ThenMatrixNested;
   typedef typename ElseMatrixType::Nested ElseMatrixNested;
@@ -54,41 +57,43 @@ struct ei_traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
     MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
     Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & HereditaryBits,
-	CoeffReadCost = ei_traits<typename ei_cleantype<ConditionMatrixNested>::type>::CoeffReadCost
-	+ EIGEN_ENUM_MAX(ei_traits<typename ei_cleantype<ThenMatrixNested>::type>::CoeffReadCost,
-	                 ei_traits<typename ei_cleantype<ElseMatrixNested>::type>::CoeffReadCost)
+    CoeffReadCost = traits<typename remove_all<ConditionMatrixNested>::type>::CoeffReadCost
+                  + EIGEN_SIZE_MAX(traits<typename remove_all<ThenMatrixNested>::type>::CoeffReadCost,
+                                   traits<typename remove_all<ElseMatrixNested>::type>::CoeffReadCost)
   };
 };
+}
 
 template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-class Select : ei_no_assignment_operator,
-  public MatrixBase<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+class Select : internal::no_assignment_operator,
+  public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Select)
+    typedef typename internal::dense_xpr_base<Select>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Select)
 
     Select(const ConditionMatrixType& conditionMatrix,
            const ThenMatrixType& thenMatrix,
            const ElseMatrixType& elseMatrix)
       : m_condition(conditionMatrix), m_then(thenMatrix), m_else(elseMatrix)
     {
-      ei_assert(m_condition.rows() == m_then.rows() && m_condition.rows() == m_else.rows());
-      ei_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
+      eigen_assert(m_condition.rows() == m_then.rows() && m_condition.rows() == m_else.rows());
+      eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
     }
 
-    int rows() const { return m_condition.rows(); }
-    int cols() const { return m_condition.cols(); }
+    Index rows() const { return m_condition.rows(); }
+    Index cols() const { return m_condition.cols(); }
 
-    const Scalar coeff(int i, int j) const
+    const Scalar coeff(Index i, Index j) const
     {
       if (m_condition.coeff(i,j))
         return m_then.coeff(i,j);
       else
         return m_else.coeff(i,j);
     }
-    
-    const Scalar coeff(int i) const
+
+    const Scalar coeff(Index i) const
     {
       if (m_condition.coeff(i))
         return m_then.coeff(i);
@@ -103,9 +108,7 @@ class Select : ei_no_assignment_operator,
 };
 
 
-/** \array_module
-  *
-  * \returns a matrix where each coefficient (i,j) is equal to \a thenMatrix(i,j)
+/** \returns a matrix where each coefficient (i,j) is equal to \a thenMatrix(i,j)
   * if \c *this(i,j), and \a elseMatrix(i,j) otherwise.
   *
   * Example: \include MatrixBase_select.cpp
@@ -116,43 +119,39 @@ class Select : ei_no_assignment_operator,
 template<typename Derived>
 template<typename ThenDerived,typename ElseDerived>
 inline const Select<Derived,ThenDerived,ElseDerived>
-MatrixBase<Derived>::select(const MatrixBase<ThenDerived>& thenMatrix,
-                            const MatrixBase<ElseDerived>& elseMatrix) const
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
+                            const DenseBase<ElseDerived>& elseMatrix) const
 {
   return Select<Derived,ThenDerived,ElseDerived>(derived(), thenMatrix.derived(), elseMatrix.derived());
 }
 
-/** \array_module
-  *
-  * Version of MatrixBase::select(const MatrixBase&, const MatrixBase&) with
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
   * the \em else expression being a scalar value.
   *
-  * \sa MatrixBase::select(const MatrixBase<ThenDerived>&, const MatrixBase<ElseDerived>&) const, class Select
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
   */
 template<typename Derived>
 template<typename ThenDerived>
-inline const Select<Derived,ThenDerived, NestByValue<typename ThenDerived::ConstantReturnType> >
-MatrixBase<Derived>::select(const MatrixBase<ThenDerived>& thenMatrix,
+inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
                             typename ThenDerived::Scalar elseScalar) const
 {
-  return Select<Derived,ThenDerived,NestByValue<typename ThenDerived::ConstantReturnType> >(
+  return Select<Derived,ThenDerived,typename ThenDerived::ConstantReturnType>(
     derived(), thenMatrix.derived(), ThenDerived::Constant(rows(),cols(),elseScalar));
 }
 
-/** \array_module
-  *
-  * Version of MatrixBase::select(const MatrixBase&, const MatrixBase&) with
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
   * the \em then expression being a scalar value.
   *
-  * \sa MatrixBase::select(const MatrixBase<ThenDerived>&, const MatrixBase<ElseDerived>&) const, class Select
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
   */
 template<typename Derived>
 template<typename ElseDerived>
-inline const Select<Derived, NestByValue<typename ElseDerived::ConstantReturnType>, ElseDerived >
-MatrixBase<Derived>::select(typename ElseDerived::Scalar thenScalar,
-                            const MatrixBase<ElseDerived>& elseMatrix) const
+inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+DenseBase<Derived>::select(typename ElseDerived::Scalar thenScalar,
+                            const DenseBase<ElseDerived>& elseMatrix) const
 {
-  return Select<Derived,NestByValue<typename ElseDerived::ConstantReturnType>,ElseDerived>(
+  return Select<Derived,typename ElseDerived::ConstantReturnType,ElseDerived>(
     derived(), ElseDerived::Constant(rows(),cols(),thenScalar), elseMatrix.derived());
 }
 
diff --git a/extern/Eigen3/Eigen/src/Core/SelfAdjointView.h b/extern/Eigen3/Eigen/src/Core/SelfAdjointView.h
new file mode 100644
index 00000000000..4bb68755eee
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/SelfAdjointView.h
@@ -0,0 +1,325 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTMATRIX_H
+#define EIGEN_SELFADJOINTMATRIX_H
+
+/** \class SelfAdjointView
+  * \ingroup Core_Module
+  *
+  *
+  * \brief Expression of a selfadjoint matrix from a triangular part of a dense matrix
+  *
+  * \param MatrixType the type of the dense matrix storing the coefficients
+  * \param TriangularPart can be either \c #Lower or \c #Upper
+  *
+  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
+  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa class TriangularBase, MatrixBase::selfadjointView()
+  */
+
+namespace internal {
+template<typename MatrixType, unsigned int UpLo>
+struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef MatrixType ExpressionType;
+  typedef typename MatrixType::PlainObject DenseMatrixType;
+  enum {
+    Mode = UpLo | SelfAdjoint,
+    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits)
+           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)), // FIXME these flags should be preserved
+    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+  };
+};
+}
+
+template <typename Lhs, int LhsMode, bool LhsIsVector,
+          typename Rhs, int RhsMode, bool RhsIsVector>
+struct SelfadjointProductMatrix;
+
+// FIXME could also be called SelfAdjointWrapper to be consistent with DiagonalWrapper ??
+template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
+  : public TriangularBase<SelfAdjointView<MatrixType, UpLo> >
+{
+  public:
+
+    typedef TriangularBase<SelfAdjointView> Base;
+    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+
+    /** \brief The type of coefficients in this matrix */
+    typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
+
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      Mode = internal::traits<SelfAdjointView>::Mode
+    };
+    typedef typename MatrixType::PlainObject PlainObject;
+
+    inline SelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    /** \sa MatrixBase::coeff()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.coeff(row, col);
+    }
+
+    /** \sa MatrixBase::coeffRef()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    /** \internal */
+    const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
+
+    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
+    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+
+    /** Efficient self-adjoint matrix times vector/matrix product */
+    template<typename OtherDerived>
+    SelfadjointProductMatrix<MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return SelfadjointProductMatrix
+              <MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+              (m_matrix, rhs.derived());
+    }
+
+    /** Efficient vector/matrix times self-adjoint matrix product */
+    template<typename OtherDerived> friend
+    SelfadjointProductMatrix<OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+    operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
+    {
+      return SelfadjointProductMatrix
+              <OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+              (lhs.derived(),rhs.m_matrix);
+    }
+
+    /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha u v^* + conj(\alpha) v u^* \f$
+      * \returns a reference to \c *this
+      *
+      * The vectors \a u and \c v \b must be column vectors, however they can be
+      * a adjoint expression without any overhead. Only the meaningful triangular
+      * part of the matrix is updated, the rest is left unchanged.
+      *
+      * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
+      */
+    template<typename DerivedU, typename DerivedV>
+    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, Scalar alpha = Scalar(1));
+
+    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
+      *
+      * \returns a reference to \c *this
+      *
+      * Note that to perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
+      * call this function with u.adjoint().
+      *
+      * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
+      */
+    template<typename DerivedU>
+    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, Scalar alpha = Scalar(1));
+
+/////////// Cholesky module ///////////
+
+    const LLT<PlainObject, UpLo> llt() const;
+    const LDLT<PlainObject, UpLo> ldlt() const;
+
+/////////// Eigenvalue module ///////////
+
+    /** Real part of #Scalar */
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    /** Return type of eigenvalues() */
+    typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+    EigenvaluesReturnType eigenvalues() const;
+    RealScalar operatorNorm() const;
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    SelfAdjointView& operator=(const MatrixBase<OtherDerived>& other)
+    {
+      enum {
+        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
+      };
+      m_matrix.const_cast_derived().template triangularView<UpLo>() = other;
+      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.adjoint();
+      return *this;
+    }
+    template<typename OtherMatrixType, unsigned int OtherMode>
+    SelfAdjointView& operator=(const TriangularView<OtherMatrixType, OtherMode>& other)
+    {
+      enum {
+        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
+      };
+      m_matrix.const_cast_derived().template triangularView<UpLo>() = other.toDenseMatrix();
+      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.toDenseMatrix().adjoint();
+      return *this;
+    }
+    #endif
+
+  protected:
+    const MatrixTypeNested m_matrix;
+};
+
+
+// template<typename OtherDerived, typename MatrixType, unsigned int UpLo>
+// internal::selfadjoint_matrix_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >
+// operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView<MatrixType,UpLo>& rhs)
+// {
+//   return internal::matrix_selfadjoint_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >(lhs.derived(),rhs);
+// }
+
+// selfadjoint to dense matrix
+
+namespace internal {
+
+template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount, ClearOpposite>
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    if(row == col)
+      dst.coeffRef(row, col) = real(src.coeff(row, col));
+    else if(row < col)
+      dst.coeffRef(col, row) = conj(dst.coeffRef(row, col) = src.coeff(row, col));
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount, ClearOpposite>
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    if(row == col)
+      dst.coeffRef(row, col) = real(src.coeff(row, col));
+    else if(row > col)
+      dst.coeffRef(col, row) = conj(dst.coeffRef(row, col) = src.coeff(row, col));
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = 0; i < j; ++i)
+      {
+        dst.copyCoeff(i, j, src);
+        dst.coeffRef(j,i) = conj(dst.coeff(i,j));
+      }
+      dst.copyCoeff(j, j, src);
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dynamic, ClearOpposite>
+{
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+  typedef typename Derived1::Index Index;
+    for(Index i = 0; i < dst.rows(); ++i)
+    {
+      for(Index j = 0; j < i; ++j)
+      {
+        dst.copyCoeff(i, j, src);
+        dst.coeffRef(j,i) = conj(dst.coeff(i,j));
+      }
+      dst.copyCoeff(i, i, src);
+    }
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView() const
+{
+  return derived();
+}
+
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView()
+{
+  return derived();
+}
+
+#endif // EIGEN_SELFADJOINTMATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h b/extern/Eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
new file mode 100644
index 00000000000..4e9ca88745d
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -0,0 +1,195 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFCWISEBINARYOP_H
+#define EIGEN_SELFCWISEBINARYOP_H
+
+/** \class SelfCwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \internal
+  *
+  * \brief Internal helper class for optimizing operators like +=, -=
+  *
+  * This is a pseudo expression class re-implementing the copyCoeff/copyPacket
+  * method to directly performs a +=/-= operations in an optimal way. In particular,
+  * this allows to make sure that the input/output data are loaded only once using
+  * aligned packet loads.
+  *
+  * \sa class SwapWrapper for a similar trick.
+  */
+
+namespace internal {
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct traits<SelfCwiseBinaryOp<BinaryOp,Lhs,Rhs> >
+  : traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >
+{
+  enum {
+    // Note that it is still a good idea to preserve the DirectAccessBit
+    // so that assign can correctly align the data.
+    Flags = traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >::Flags | (Lhs::Flags&DirectAccessBit) | (Lhs::Flags&LvalueBit),
+    OuterStrideAtCompileTime = Lhs::OuterStrideAtCompileTime,
+    InnerStrideAtCompileTime = Lhs::InnerStrideAtCompileTime
+  };
+};
+}
+
+template<typename BinaryOp, typename Lhs, typename Rhs> class SelfCwiseBinaryOp
+  : public internal::dense_xpr_base< SelfCwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<SelfCwiseBinaryOp>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SelfCwiseBinaryOp)
+
+    typedef typename internal::packet_traits<Scalar>::type Packet;
+
+    inline SelfCwiseBinaryOp(Lhs& xpr, const BinaryOp& func = BinaryOp()) : m_matrix(xpr), m_functor(func) {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+    inline const Scalar* data() const { return m_matrix.data(); }
+
+    // note that this function is needed by assign to correctly align loads/stores
+    // TODO make Assign use .data()
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_matrix.coeffRef(row, col);
+    }
+
+    // note that this function is needed by assign to correctly align loads/stores
+    // TODO make Assign use .data()
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                         && col >= 0 && col < cols());
+      Scalar& tmp = m_matrix.coeffRef(row,col);
+      tmp = m_functor(tmp, _other.coeff(row,col));
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_matrix.size());
+      Scalar& tmp = m_matrix.coeffRef(index);
+      tmp = m_functor(tmp, _other.coeff(index));
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      m_matrix.template writePacket<StoreMode>(row, col,
+        m_functor.packetOp(m_matrix.template packet<StoreMode>(row, col),_other.template packet<LoadMode>(row, col)) );
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_matrix.size());
+      m_matrix.template writePacket<StoreMode>(index,
+        m_functor.packetOp(m_matrix.template packet<StoreMode>(index),_other.template packet<LoadMode>(index)) );
+    }
+
+    // reimplement lazyAssign to handle complex *= real
+    // see CwiseBinaryOp ctor for details
+    template<typename RhsDerived>
+    EIGEN_STRONG_INLINE SelfCwiseBinaryOp& lazyAssign(const DenseBase<RhsDerived>& rhs)
+    {
+      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs,RhsDerived)
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename RhsDerived::Scalar);
+      
+    #ifdef EIGEN_DEBUG_ASSIGN
+      internal::assign_traits<SelfCwiseBinaryOp, RhsDerived>::debug();
+    #endif
+      eigen_assert(rows() == rhs.rows() && cols() == rhs.cols());
+      internal::assign_impl<SelfCwiseBinaryOp, RhsDerived>::run(*this,rhs.derived());
+    #ifndef EIGEN_NO_DEBUG
+      this->checkTransposeAliasing(rhs.derived());
+    #endif
+      return *this;
+    }
+    
+    // overloaded to honor evaluation of special matrices
+    // maybe another solution would be to not use SelfCwiseBinaryOp
+    // at first...
+    SelfCwiseBinaryOp& operator=(const Rhs& _rhs)
+    {
+      typename internal::nested<Rhs>::type rhs(_rhs);
+      return Base::operator=(rhs);
+    }
+
+  protected:
+    Lhs& m_matrix;
+    const BinaryOp& m_functor;
+
+  private:
+    SelfCwiseBinaryOp& operator=(const SelfCwiseBinaryOp&);
+};
+
+template<typename Derived>
+inline Derived& DenseBase<Derived>::operator*=(const Scalar& other)
+{
+  typedef typename Derived::PlainObject PlainObject;
+  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
+  tmp = PlainObject::Constant(rows(),cols(),other);
+  return derived();
+}
+
+template<typename Derived>
+inline Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+{
+  typedef typename internal::conditional<NumTraits<Scalar>::IsInteger,
+                                        internal::scalar_quotient_op<Scalar>,
+                                        internal::scalar_product_op<Scalar> >::type BinOp;
+  typedef typename Derived::PlainObject PlainObject;
+  SelfCwiseBinaryOp<BinOp, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
+  tmp = PlainObject::Constant(rows(),cols(), NumTraits<Scalar>::IsInteger ? other : Scalar(1)/other);
+  return derived();
+}
+
+#endif // EIGEN_SELFCWISEBINARYOP_H
diff --git a/extern/Eigen3/Eigen/src/Core/SolveTriangular.h b/extern/Eigen3/Eigen/src/Core/SolveTriangular.h
new file mode 100644
index 00000000000..71e129c7f12
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/SolveTriangular.h
@@ -0,0 +1,263 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SOLVETRIANGULAR_H
+#define EIGEN_SOLVETRIANGULAR_H
+
+namespace internal {
+
+// Forward declarations:
+// The following two routines are implemented in the products/TriangularSolver*.h files
+template<typename LhsScalar, typename RhsScalar, typename Index, int Side, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector;
+
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherStorageOrder>
+struct triangular_solve_matrix;
+
+// small helper struct extracting some traits on the underlying solver operation
+template<typename Lhs, typename Rhs, int Side>
+class trsolve_traits
+{
+  private:
+    enum {
+      RhsIsVectorAtCompileTime = (Side==OnTheLeft ? Rhs::ColsAtCompileTime : Rhs::RowsAtCompileTime)==1
+    };
+  public:
+    enum {
+      Unrolling   = (RhsIsVectorAtCompileTime && Rhs::SizeAtCompileTime != Dynamic && Rhs::SizeAtCompileTime <= 8)
+                  ? CompleteUnrolling : NoUnrolling,
+      RhsVectors  = RhsIsVectorAtCompileTime ? 1 : Dynamic
+    };
+};
+
+template<typename Lhs, typename Rhs,
+  int Side, // can be OnTheLeft/OnTheRight
+  int Mode, // can be Upper/Lower | UnitDiag
+  int Unrolling = trsolve_traits<Lhs,Rhs,Side>::Unrolling,
+  int RhsVectors = trsolve_traits<Lhs,Rhs,Side>::RhsVectors
+  >
+struct triangular_solver_selector;
+
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
+{
+  typedef typename Lhs::Scalar LhsScalar;
+  typedef typename Rhs::Scalar RhsScalar;
+  typedef blas_traits<Lhs> LhsProductTraits;
+  typedef typename LhsProductTraits::ExtractType ActualLhsType;
+  typedef Map<Matrix<RhsScalar,Dynamic,1>, Aligned> MappedRhs;
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
+
+    // FIXME find a way to allow an inner stride if packet_traits<Scalar>::size==1
+
+    bool useRhsDirectly = Rhs::InnerStrideAtCompileTime==1 || rhs.innerStride()==1;
+
+    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhs,rhs.size(),
+                                                  (useRhsDirectly ? rhs.data() : 0));
+                                                  
+    if(!useRhsDirectly)
+      MappedRhs(actualRhs,rhs.size()) = rhs;
+
+    triangular_solve_vector<LhsScalar, RhsScalar, typename Lhs::Index, Side, Mode, LhsProductTraits::NeedToConjugate,
+                            (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
+      ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
+
+    if(!useRhsDirectly)
+      rhs = MappedRhs(actualRhs, rhs.size());
+  }
+};
+
+// the rhs is a matrix
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
+{
+  typedef typename Rhs::Scalar Scalar;
+  typedef typename Rhs::Index Index;
+  typedef blas_traits<Lhs> LhsProductTraits;
+  typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    const ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
+    triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
+                               (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
+      ::run(lhs.rows(), Side==OnTheLeft? rhs.cols() : rhs.rows(), &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.outerStride());
+  }
+};
+
+/***************************************************************************
+* meta-unrolling implementation
+***************************************************************************/
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
+         bool Stop = Index==Size>
+struct triangular_solver_unroller;
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    I = IsLower ? Index : Size - Index - 1,
+    S = IsLower ? 0     : I+1
+  };
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    if (Index>0)
+      rhs.coeffRef(I) -= lhs.row(I).template segment<Index>(S).transpose()
+                         .cwiseProduct(rhs.template segment<Index>(S)).sum();
+
+    if(!(Mode & UnitDiag))
+      rhs.coeffRef(I) /= lhs.coeff(I,I);
+
+    triangular_solver_unroller<Lhs,Rhs,Mode,Index+1,Size>::run(lhs,rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,true> {
+  static void run(const Lhs&, Rhs&) {}
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheLeft,Mode,CompleteUnrolling,1> {
+  static void run(const Lhs& lhs, Rhs& rhs)
+  { triangular_solver_unroller<Lhs,Rhs,Mode,0,Rhs::SizeAtCompileTime>::run(lhs,rhs); }
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    Transpose<const Lhs> trLhs(lhs);
+    Transpose<Rhs> trRhs(rhs);
+    
+    triangular_solver_unroller<Transpose<const Lhs>,Transpose<Rhs>,
+                              ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+                              0,Rhs::SizeAtCompileTime>::run(trLhs,trRhs);
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* TriangularView methods
+***************************************************************************/
+
+/** "in-place" version of TriangularView::solve() where the result is written in \a other
+  *
+  * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+  * This function will const_cast it, so constness isn't honored here.
+  *
+  * See TriangularView:solve() for the details.
+  */
+template<typename MatrixType, unsigned int Mode>
+template<int Side, typename OtherDerived>
+void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
+{
+  OtherDerived& other = _other.const_cast_derived();
+  eigen_assert(cols() == rows());
+  eigen_assert( (Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols()) );
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
+  typedef typename internal::conditional<copy,
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+  OtherCopy otherCopy(other);
+
+  internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
+    Side, Mode>::run(nestedExpression(), otherCopy);
+
+  if (copy)
+    other = otherCopy;
+}
+
+/** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
+  *
+  * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
+  * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
+  * \a Side==OnTheRight.
+  *
+  * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
+  * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
+  * is an upper (resp. lower) triangular matrix.
+  *
+  * Example: \include MatrixBase_marked.cpp
+  * Output: \verbinclude MatrixBase_marked.out
+  *
+  * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
+  * to the same matrix or vector \a other.
+  *
+  * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
+  * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
+  *
+  * \sa TriangularView::solveInPlace()
+  */
+template<typename Derived, unsigned int Mode>
+template<int Side, typename Other>
+const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
+TriangularView<Derived,Mode>::solve(const MatrixBase<Other>& other) const
+{
+  return internal::triangular_solve_retval<Side,TriangularView,Other>(*this, other.derived());
+}
+
+namespace internal {
+
+
+template<int Side, typename TriangularType, typename Rhs>
+struct traits<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+  typedef typename internal::plain_matrix_type_column_major<Rhs>::type ReturnType;
+};
+
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval
+ : public ReturnByValue<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
+  typedef ReturnByValue<triangular_solve_retval> Base;
+  typedef typename Base::Index Index;
+
+  triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
+    : m_triangularMatrix(tri), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_rhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    if(!(is_same<RhsNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_rhs)))
+      dst = m_rhs;
+    m_triangularMatrix.template solveInPlace<Side>(dst);
+  }
+
+  protected:
+    const TriangularType& m_triangularMatrix;
+    const typename Rhs::Nested m_rhs;
+};
+
+} // namespace internal
+
+#endif // EIGEN_SOLVETRIANGULAR_H
diff --git a/extern/Eigen3/Eigen/src/Core/StableNorm.h b/extern/Eigen3/Eigen/src/Core/StableNorm.h
new file mode 100644
index 00000000000..f667272e4a4
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/StableNorm.h
@@ -0,0 +1,190 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STABLENORM_H
+#define EIGEN_STABLENORM_H
+
+namespace internal {
+template<typename ExpressionType, typename Scalar>
+inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
+{
+  Scalar max = bl.cwiseAbs().maxCoeff();
+  if (max>scale)
+  {
+    ssq = ssq * abs2(scale/max);
+    scale = max;
+    invScale = Scalar(1)/scale;
+  }
+  // TODO if the max is much much smaller than the current scale,
+  // then we can neglect this sub vector
+  ssq += (bl*invScale).squaredNorm();
+}
+}
+
+/** \returns the \em l2 norm of \c *this avoiding underflow and overflow.
+  * This version use a blockwise two passes algorithm:
+  *  1 - find the absolute largest coefficient \c s
+  *  2 - compute \f$ s \Vert \frac{*this}{s} \Vert \f$ in a standard way
+  *
+  * For architecture/scalar types supporting vectorization, this version
+  * is faster than blueNorm(). Otherwise the blueNorm() is much faster.
+  *
+  * \sa norm(), blueNorm(), hypotNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::stableNorm() const
+{
+  using std::min;
+  const Index blockSize = 4096;
+  RealScalar scale = 0;
+  RealScalar invScale = 1;
+  RealScalar ssq = 0; // sum of square
+  enum {
+    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? 1 : 0
+  };
+  Index n = size();
+  Index bi = internal::first_aligned(derived());
+  if (bi>0)
+    internal::stable_norm_kernel(this->head(bi), ssq, scale, invScale);
+  for (; bi<n; bi+=blockSize)
+    internal::stable_norm_kernel(this->segment(bi,(min)(blockSize, n - bi)).template forceAlignedAccessIf<Alignment>(), ssq, scale, invScale);
+  return scale * internal::sqrt(ssq);
+}
+
+/** \returns the \em l2 norm of \c *this using the Blue's algorithm.
+  * A Portable Fortran Program to Find the Euclidean Norm of a Vector,
+  * ACM TOMS, Vol 4, Issue 1, 1978.
+  *
+  * For architecture/scalar types without vectorization, this version
+  * is much faster than stableNorm(). Otherwise the stableNorm() is faster.
+  *
+  * \sa norm(), stableNorm(), hypotNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::blueNorm() const
+{
+  using std::pow;
+  using std::min;
+  using std::max;
+  static Index nmax = -1;
+  static RealScalar b1, b2, s1m, s2m, overfl, rbig, relerr;
+  if(nmax <= 0)
+  {
+    int nbig, ibeta, it, iemin, iemax, iexp;
+    RealScalar abig, eps;
+    // This program calculates the machine-dependent constants
+    // bl, b2, slm, s2m, relerr overfl, nmax
+    // from the "basic" machine-dependent numbers
+    // nbig, ibeta, it, iemin, iemax, rbig.
+    // The following define the basic machine-dependent constants.
+    // For portability, the PORT subprograms "ilmaeh" and "rlmach"
+    // are used. For any specific computer, each of the assignment
+    // statements can be replaced
+    nbig  = (std::numeric_limits<Index>::max)();            // largest integer
+    ibeta = std::numeric_limits<RealScalar>::radix;         // base for floating-point numbers
+    it    = std::numeric_limits<RealScalar>::digits;        // number of base-beta digits in mantissa
+    iemin = std::numeric_limits<RealScalar>::min_exponent;  // minimum exponent
+    iemax = std::numeric_limits<RealScalar>::max_exponent;  // maximum exponent
+    rbig  = (std::numeric_limits<RealScalar>::max)();         // largest floating-point number
+
+    iexp  = -((1-iemin)/2);
+    b1    = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));  // lower boundary of midrange
+    iexp  = (iemax + 1 - it)/2;
+    b2    = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));   // upper boundary of midrange
+
+    iexp  = (2-iemin)/2;
+    s1m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));   // scaling factor for lower range
+    iexp  = - ((iemax+it)/2);
+    s2m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));   // scaling factor for upper range
+
+    overfl  = rbig*s2m;             // overflow boundary for abig
+    eps     = RealScalar(pow(double(ibeta), 1-it));
+    relerr  = internal::sqrt(eps);         // tolerance for neglecting asml
+    abig    = RealScalar(1.0/eps - 1.0);
+    if (RealScalar(nbig)>abig)  nmax = int(abig);  // largest safe n
+    else                        nmax = nbig;
+  }
+  Index n = size();
+  RealScalar ab2 = b2 / RealScalar(n);
+  RealScalar asml = RealScalar(0);
+  RealScalar amed = RealScalar(0);
+  RealScalar abig = RealScalar(0);
+  for(Index j=0; j<n; ++j)
+  {
+    RealScalar ax = internal::abs(coeff(j));
+    if(ax > ab2)     abig += internal::abs2(ax*s2m);
+    else if(ax < b1) asml += internal::abs2(ax*s1m);
+    else             amed += internal::abs2(ax);
+  }
+  if(abig > RealScalar(0))
+  {
+    abig = internal::sqrt(abig);
+    if(abig > overfl)
+    {
+      eigen_assert(false && "overflow");
+      return rbig;
+    }
+    if(amed > RealScalar(0))
+    {
+      abig = abig/s2m;
+      amed = internal::sqrt(amed);
+    }
+    else
+      return abig/s2m;
+  }
+  else if(asml > RealScalar(0))
+  {
+    if (amed > RealScalar(0))
+    {
+      abig = internal::sqrt(amed);
+      amed = internal::sqrt(asml) / s1m;
+    }
+    else
+      return internal::sqrt(asml)/s1m;
+  }
+  else
+    return internal::sqrt(amed);
+  asml = (min)(abig, amed);
+  abig = (max)(abig, amed);
+  if(asml <= abig*relerr)
+    return abig;
+  else
+    return abig * internal::sqrt(RealScalar(1) + internal::abs2(asml/abig));
+}
+
+/** \returns the \em l2 norm of \c *this avoiding undeflow and overflow.
+  * This version use a concatenation of hypot() calls, and it is very slow.
+  *
+  * \sa norm(), stableNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::hypotNorm() const
+{
+  return this->cwiseAbs().redux(internal::scalar_hypot_op<RealScalar>());
+}
+
+#endif // EIGEN_STABLENORM_H
diff --git a/extern/Eigen3/Eigen/src/Core/Stride.h b/extern/Eigen3/Eigen/src/Core/Stride.h
new file mode 100644
index 00000000000..0430f111627
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Stride.h
@@ -0,0 +1,119 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STRIDE_H
+#define EIGEN_STRIDE_H
+
+/** \class Stride
+  * \ingroup Core_Module
+  *
+  * \brief Holds strides information for Map
+  *
+  * This class holds the strides information for mapping arrays with strides with class Map.
+  *
+  * It holds two values: the inner stride and the outer stride.
+  *
+  * The inner stride is the pointer increment between two consecutive entries within a given row of a
+  * row-major matrix or within a given column of a column-major matrix.
+  *
+  * The outer stride is the pointer increment between two consecutive rows of a row-major matrix or
+  * between two consecutive columns of a column-major matrix.
+  *
+  * These two values can be passed either at compile-time as template parameters, or at runtime as
+  * arguments to the constructor.
+  *
+  * Indeed, this class takes two template parameters:
+  *  \param _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
+  *  \param _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
+  *
+  * Here is an example:
+  * \include Map_general_stride.cpp
+  * Output: \verbinclude Map_general_stride.out
+  *
+  * \sa class InnerStride, class OuterStride, \ref TopicStorageOrders
+  */
+template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
+class Stride
+{
+  public:
+    typedef DenseIndex Index;
+    enum {
+      InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
+      OuterStrideAtCompileTime = _OuterStrideAtCompileTime
+    };
+
+    /** Default constructor, for use when strides are fixed at compile time */
+    Stride()
+      : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
+    {
+      eigen_assert(InnerStrideAtCompileTime != Dynamic && OuterStrideAtCompileTime != Dynamic);
+    }
+
+    /** Constructor allowing to pass the strides at runtime */
+    Stride(Index outerStride, Index innerStride)
+      : m_outer(outerStride), m_inner(innerStride)
+    {
+      eigen_assert(innerStride>=0 && outerStride>=0);
+    }
+
+    /** Copy constructor */
+    Stride(const Stride& other)
+      : m_outer(other.outer()), m_inner(other.inner())
+    {}
+
+    /** \returns the outer stride */
+    inline Index outer() const { return m_outer.value(); }
+    /** \returns the inner stride */
+    inline Index inner() const { return m_inner.value(); }
+
+  protected:
+    internal::variable_if_dynamic<Index, OuterStrideAtCompileTime> m_outer;
+    internal::variable_if_dynamic<Index, InnerStrideAtCompileTime> m_inner;
+};
+
+/** \brief Convenience specialization of Stride to specify only an inner stride
+  * See class Map for some examples */
+template<int Value = Dynamic>
+class InnerStride : public Stride<0, Value>
+{
+    typedef Stride<0, Value> Base;
+  public:
+    typedef DenseIndex Index;
+    InnerStride() : Base() {}
+    InnerStride(Index v) : Base(0, v) {}
+};
+
+/** \brief Convenience specialization of Stride to specify only an outer stride
+  * See class Map for some examples */
+template<int Value = Dynamic>
+class OuterStride : public Stride<Value, 0>
+{
+    typedef Stride<Value, 0> Base;
+  public:
+    typedef DenseIndex Index;
+    OuterStride() : Base() {}
+    OuterStride(Index v) : Base(v,0) {}
+};
+
+#endif // EIGEN_STRIDE_H
diff --git a/extern/Eigen2/Eigen/src/Core/Swap.h b/extern/Eigen3/Eigen/src/Core/Swap.h
index 9aaac652fd8..5fb03286675 100644
--- a/extern/Eigen2/Eigen/src/Core/Swap.h
+++ b/extern/Eigen3/Eigen/src/Core/Swap.h
@@ -1,5 +1,5 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
@@ -26,54 +26,58 @@
 #define EIGEN_SWAP_H
 
 /** \class SwapWrapper
+  * \ingroup Core_Module
   *
   * \internal
   *
   * \brief Internal helper class for swapping two expressions
   */
+namespace internal {
 template<typename ExpressionType>
-struct ei_traits<SwapWrapper<ExpressionType> >
-{
-  typedef typename ExpressionType::Scalar Scalar;
-  enum {
-    RowsAtCompileTime = ExpressionType::RowsAtCompileTime,
-    ColsAtCompileTime = ExpressionType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = ExpressionType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = ExpressionType::MaxColsAtCompileTime,
-    Flags = ExpressionType::Flags,
-    CoeffReadCost = ExpressionType::CoeffReadCost
-  };
-};
+struct traits<SwapWrapper<ExpressionType> > : traits<ExpressionType> {};
+}
 
 template<typename ExpressionType> class SwapWrapper
-  : public MatrixBase<SwapWrapper<ExpressionType> >
+  : public internal::dense_xpr_base<SwapWrapper<ExpressionType> >::type
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(SwapWrapper)
-    typedef typename ei_packet_traits<Scalar>::type Packet;
+    typedef typename internal::dense_xpr_base<SwapWrapper>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SwapWrapper)
+    typedef typename internal::packet_traits<Scalar>::type Packet;
 
     inline SwapWrapper(ExpressionType& xpr) : m_expression(xpr) {}
 
-    inline int rows() const { return m_expression.rows(); }
-    inline int cols() const { return m_expression.cols(); }
-    inline int stride() const { return m_expression.stride(); }
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline Scalar& coeffRef(int index)
+    inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
 
+    inline Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index index) const
+    {
+      return m_expression.coeffRef(index);
+    }
+
     template<typename OtherDerived>
-    void copyCoeff(int row, int col, const MatrixBase<OtherDerived>& other)
+    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
     {
       OtherDerived& _other = other.const_cast_derived();
-      ei_internal_assert(row >= 0 && row < rows()
+      eigen_internal_assert(row >= 0 && row < rows()
                          && col >= 0 && col < cols());
       Scalar tmp = m_expression.coeff(row, col);
       m_expression.coeffRef(row, col) = _other.coeff(row, col);
@@ -81,20 +85,20 @@ template<typename ExpressionType> class SwapWrapper
     }
 
     template<typename OtherDerived>
-    void copyCoeff(int index, const MatrixBase<OtherDerived>& other)
+    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
     {
       OtherDerived& _other = other.const_cast_derived();
-      ei_internal_assert(index >= 0 && index < m_expression.size());
+      eigen_internal_assert(index >= 0 && index < m_expression.size());
       Scalar tmp = m_expression.coeff(index);
       m_expression.coeffRef(index) = _other.coeff(index);
       _other.coeffRef(index) = tmp;
     }
 
     template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(int row, int col, const MatrixBase<OtherDerived>& other)
+    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
     {
       OtherDerived& _other = other.const_cast_derived();
-      ei_internal_assert(row >= 0 && row < rows()
+      eigen_internal_assert(row >= 0 && row < rows()
                         && col >= 0 && col < cols());
       Packet tmp = m_expression.template packet<StoreMode>(row, col);
       m_expression.template writePacket<StoreMode>(row, col,
@@ -104,10 +108,10 @@ template<typename ExpressionType> class SwapWrapper
     }
 
     template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(int index, const MatrixBase<OtherDerived>& other)
+    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
     {
       OtherDerived& _other = other.const_cast_derived();
-      ei_internal_assert(index >= 0 && index < m_expression.size());
+      eigen_internal_assert(index >= 0 && index < m_expression.size());
       Packet tmp = m_expression.template packet<StoreMode>(index);
       m_expression.template writePacket<StoreMode>(index,
         _other.template packet<LoadMode>(index)
@@ -117,29 +121,6 @@ template<typename ExpressionType> class SwapWrapper
 
   protected:
     ExpressionType& m_expression;
-
-  private:
-    SwapWrapper& operator=(const SwapWrapper&);
 };
 
-/** swaps *this with the expression \a other.
-  *
-  * \note \a other is only marked for internal reasons, but of course
-  * it gets const-casted. One reason is that one will often call swap
-  * on temporary objects (hence non-const references are forbidden).
-  * Another reason is that lazyAssign takes a const argument anyway.
-  */
-template<typename Derived>
-template<typename OtherDerived>
-void MatrixBase<Derived>::swap(const MatrixBase<OtherDerived>& other)
-{
-  (SwapWrapper<Derived>(derived())).lazyAssign(other);
-}
-
 #endif // EIGEN_SWAP_H
-
-
-
-
-
-
diff --git a/extern/Eigen3/Eigen/src/Core/Transpose.h b/extern/Eigen3/Eigen/src/Core/Transpose.h
new file mode 100644
index 00000000000..3f7c7df6ee1
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Transpose.h
@@ -0,0 +1,425 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSPOSE_H
+#define EIGEN_TRANSPOSE_H
+
+/** \class Transpose
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the transpose of a matrix
+  *
+  * \param MatrixType the type of the object of which we are taking the transpose
+  *
+  * This class represents an expression of the transpose of a matrix.
+  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
+  */
+
+namespace internal {
+template<typename MatrixType>
+struct traits<Transpose<MatrixType> > : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = MatrixType::ColsAtCompileTime,
+    ColsAtCompileTime = MatrixType::RowsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags0 = MatrixTypeNestedPlain::Flags & ~(LvalueBit | NestByRefBit),
+    Flags1 = Flags0 | FlagsLvalueBit,
+    Flags = Flags1 ^ RowMajorBit,
+    CoeffReadCost = MatrixTypeNestedPlain::CoeffReadCost,
+    InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
+    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
+  };
+};
+}
+
+template<typename MatrixType, typename StorageKind> class TransposeImpl;
+
+template<typename MatrixType> class Transpose
+  : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
+{
+  public:
+
+    typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
+
+    inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
+
+    inline Index rows() const { return m_matrix.cols(); }
+    inline Index cols() const { return m_matrix.rows(); }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() const { return m_matrix; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() { return m_matrix.const_cast_derived(); }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+namespace internal {
+
+template<typename MatrixType, bool HasDirectAccess = has_direct_access<MatrixType>::ret>
+struct TransposeImpl_base
+{
+  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+template<typename MatrixType>
+struct TransposeImpl_base<MatrixType, false>
+{
+  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+} // end namespace internal
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
+  : public internal::TransposeImpl_base<MatrixType>::type
+{
+  public:
+
+    typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
+
+    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+
+    typedef typename internal::conditional<
+                       internal::is_lvalue<MatrixType>::value,
+                       Scalar,
+                       const Scalar
+                     >::type ScalarWithConstIfNotLvalue;
+
+    inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+    inline const Scalar* data() const { return derived().nestedExpression().data(); }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return derived().nestedExpression().const_cast_derived().coeffRef(col, row);
+    }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return derived().nestedExpression().const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return derived().nestedExpression().coeffRef(col, row);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return derived().nestedExpression().coeffRef(index);
+    }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return derived().nestedExpression().coeff(col, row);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return derived().nestedExpression().coeff(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return derived().nestedExpression().template packet<LoadMode>(col, row);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(col, row, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return derived().nestedExpression().template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+};
+
+/** \returns an expression of the transpose of *this.
+  *
+  * Example: \include MatrixBase_transpose.cpp
+  * Output: \verbinclude MatrixBase_transpose.out
+  *
+  * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
+  * \code
+  * m = m.transpose(); // bug!!! caused by aliasing effect
+  * \endcode
+  * Instead, use the transposeInPlace() method:
+  * \code
+  * m.transposeInPlace();
+  * \endcode
+  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+  * \code
+  * m = m.transpose().eval();
+  * \endcode
+  *
+  * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline Transpose<Derived>
+DenseBase<Derived>::transpose()
+{
+  return derived();
+}
+
+/** This is the const version of transpose().
+  *
+  * Make sure you read the warning for transpose() !
+  *
+  * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstTransposeReturnType
+DenseBase<Derived>::transpose() const
+{
+  return ConstTransposeReturnType(derived());
+}
+
+/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
+  *
+  * Example: \include MatrixBase_adjoint.cpp
+  * Output: \verbinclude MatrixBase_adjoint.out
+  *
+  * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
+  * \code
+  * m = m.adjoint(); // bug!!! caused by aliasing effect
+  * \endcode
+  * Instead, use the adjointInPlace() method:
+  * \code
+  * m.adjointInPlace();
+  * \endcode
+  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+  * \code
+  * m = m.adjoint().eval();
+  * \endcode
+  *
+  * \sa adjointInPlace(), transpose(), conjugate(), class Transpose, class internal::scalar_conjugate_op */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::AdjointReturnType
+MatrixBase<Derived>::adjoint() const
+{
+  return this->transpose(); // in the complex case, the .conjugate() is be implicit here
+                            // due to implicit conversion to return type
+}
+
+/***************************************************************************
+* "in place" transpose implementation
+***************************************************************************/
+
+namespace internal {
+
+template<typename MatrixType,
+  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic>
+struct inplace_transpose_selector;
+
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,true> { // square matrix
+  static void run(MatrixType& m) {
+    m.template triangularView<StrictlyUpper>().swap(m.transpose());
+  }
+};
+
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,false> { // non square matrix
+  static void run(MatrixType& m) {
+    if (m.rows()==m.cols())
+      m.template triangularView<StrictlyUpper>().swap(m.transpose());
+    else
+      m = m.transpose().eval();
+  }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
+  * Thus, doing
+  * \code
+  * m.transposeInPlace();
+  * \endcode
+  * has the same effect on m as doing
+  * \code
+  * m = m.transpose().eval();
+  * \endcode
+  * and is faster and also safer because in the latter line of code, forgetting the eval() results
+  * in a bug caused by aliasing.
+  *
+  * Notice however that this method is only useful if you want to replace a matrix by its own transpose.
+  * If you just need the transpose of a matrix, use transpose().
+  *
+  * \note if the matrix is not square, then \c *this must be a resizable matrix.
+  *
+  * \sa transpose(), adjoint(), adjointInPlace() */
+template<typename Derived>
+inline void DenseBase<Derived>::transposeInPlace()
+{
+  internal::inplace_transpose_selector<Derived>::run(derived());
+}
+
+/***************************************************************************
+* "in place" adjoint implementation
+***************************************************************************/
+
+/** This is the "in place" version of adjoint(): it replaces \c *this by its own transpose.
+  * Thus, doing
+  * \code
+  * m.adjointInPlace();
+  * \endcode
+  * has the same effect on m as doing
+  * \code
+  * m = m.adjoint().eval();
+  * \endcode
+  * and is faster and also safer because in the latter line of code, forgetting the eval() results
+  * in a bug caused by aliasing.
+  *
+  * Notice however that this method is only useful if you want to replace a matrix by its own adjoint.
+  * If you just need the adjoint of a matrix, use adjoint().
+  *
+  * \note if the matrix is not square, then \c *this must be a resizable matrix.
+  *
+  * \sa transpose(), adjoint(), transposeInPlace() */
+template<typename Derived>
+inline void MatrixBase<Derived>::adjointInPlace()
+{
+  derived() = adjoint().eval();
+}
+
+#ifndef EIGEN_NO_DEBUG
+
+// The following is to detect aliasing problems in most common cases.
+
+namespace internal {
+
+template<typename BinOp,typename NestedXpr,typename Rhs>
+struct blas_traits<SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> >
+ : blas_traits<NestedXpr>
+{
+  typedef SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> XprType;
+  static inline const XprType extract(const XprType& x) { return x; }
+};
+
+template<bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_compile_time_selector
+{
+  enum { ret = bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed };
+};
+
+template<bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_compile_time_selector<DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+  enum { ret =    bool(blas_traits<DerivedA>::IsTransposed) != DestIsTransposed
+               || bool(blas_traits<DerivedB>::IsTransposed) != DestIsTransposed
+  };
+};
+
+template<typename Scalar, bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_run_time_selector
+{
+  static bool run(const Scalar* dest, const OtherDerived& src)
+  {
+    return (bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src));
+  }
+};
+
+template<typename Scalar, bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_run_time_selector<Scalar,DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+  static bool run(const Scalar* dest, const CwiseBinaryOp<BinOp,DerivedA,DerivedB>& src)
+  {
+    return ((blas_traits<DerivedA>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src.lhs())))
+        || ((blas_traits<DerivedB>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src.rhs())));
+  }
+};
+
+// the following selector, checkTransposeAliasing_impl, based on MightHaveTransposeAliasing,
+// is because when the condition controlling the assert is known at compile time, ICC emits a warning.
+// This is actually a good warning: in expressions that don't have any transposing, the condition is
+// known at compile time to be false, and using that, we can avoid generating the code of the assert again
+// and again for all these expressions that don't need it.
+
+template<typename Derived, typename OtherDerived,
+         bool MightHaveTransposeAliasing
+                 = check_transpose_aliasing_compile_time_selector
+                     <blas_traits<Derived>::IsTransposed,OtherDerived>::ret
+        >
+struct checkTransposeAliasing_impl
+{
+    static void run(const Derived& dst, const OtherDerived& other)
+    {
+        eigen_assert((!check_transpose_aliasing_run_time_selector
+                      <typename Derived::Scalar,blas_traits<Derived>::IsTransposed,OtherDerived>
+                      ::run(extract_data(dst), other))
+          && "aliasing detected during tranposition, use transposeInPlace() "
+             "or evaluate the rhs into a temporary using .eval()");
+
+    }
+};
+
+template<typename Derived, typename OtherDerived>
+struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
+{
+    static void run(const Derived&, const OtherDerived&)
+    {
+    }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename OtherDerived>
+void DenseBase<Derived>::checkTransposeAliasing(const OtherDerived& other) const
+{
+    internal::checkTransposeAliasing_impl<Derived, OtherDerived>::run(derived(), other);
+}
+#endif
+
+#endif // EIGEN_TRANSPOSE_H
diff --git a/extern/Eigen3/Eigen/src/Core/Transpositions.h b/extern/Eigen3/Eigen/src/Core/Transpositions.h
new file mode 100644
index 00000000000..88fdfb2226f
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/Transpositions.h
@@ -0,0 +1,447 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSPOSITIONS_H
+#define EIGEN_TRANSPOSITIONS_H
+
+/** \class Transpositions
+  * \ingroup Core_Module
+  *
+  * \brief Represents a sequence of transpositions (row/column interchange)
+  *
+  * \param SizeAtCompileTime the number of transpositions, or Dynamic
+  * \param MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  *
+  * This class represents a permutation transformation as a sequence of \em n transpositions
+  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
+  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
+  * the rows \c i and \c indices[i] of the matrix \c M.
+  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
+  *
+  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
+  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
+  * 
+  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
+  * \code
+  * Transpositions tr;
+  * MatrixXf mat;
+  * mat = tr * mat;
+  * \endcode
+  * In this example, we detect that the matrix appears on both side, and so the transpositions
+  * are applied in-place without any temporary or extra copy.
+  *
+  * \sa class PermutationMatrix
+  */
+
+namespace internal {
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed=false> struct transposition_matrix_product_retval;
+}
+
+template<typename Derived>
+class TranspositionsBase
+{
+    typedef internal::traits<Derived> Traits;
+    
+  public:
+
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    Derived& derived() { return *static_cast<Derived*>(this); }
+    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Derived& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Derived& operator=(const TranspositionsBase& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+    #endif
+
+    /** \returns the number of transpositions */
+    inline Index size() const { return indices().size(); }
+
+    /** Direct access to the underlying index vector */
+    inline const Index& coeff(Index i) const { return indices().coeff(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& coeffRef(Index i) { return indices().coeffRef(i); }
+    /** Direct access to the underlying index vector */
+    inline const Index& operator()(Index i) const { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& operator()(Index i) { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline const Index& operator[](Index i) const { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& operator[](Index i) { return indices()(i); }
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return derived().indices(); }
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return derived().indices(); }
+
+    /** Resizes to given size. */
+    inline void resize(int size)
+    {
+      indices().resize(size);
+    }
+
+    /** Sets \c *this to represents an identity transformation */
+    void setIdentity()
+    {
+      for(int i = 0; i < indices().size(); ++i)
+        coeffRef(i) = i;
+    }
+
+    // FIXME: do we want such methods ?
+    // might be usefull when the target matrix expression is complex, e.g.:
+    // object.matrix().block(..,..,..,..) = trans * object.matrix().block(..,..,..,..);
+    /*
+    template<typename MatrixType>
+    void applyForwardToRows(MatrixType& mat) const
+    {
+      for(Index k=0 ; k<size() ; ++k)
+        if(m_indices(k)!=k)
+          mat.row(k).swap(mat.row(m_indices(k)));
+    }
+
+    template<typename MatrixType>
+    void applyBackwardToRows(MatrixType& mat) const
+    {
+      for(Index k=size()-1 ; k>=0 ; --k)
+        if(m_indices(k)!=k)
+          mat.row(k).swap(mat.row(m_indices(k)));
+    }
+    */
+
+    /** \returns the inverse transformation */
+    inline Transpose<TranspositionsBase> inverse() const
+    { return Transpose<TranspositionsBase>(derived()); }
+
+    /** \returns the tranpose transformation */
+    inline Transpose<TranspositionsBase> transpose() const
+    { return Transpose<TranspositionsBase>(derived()); }
+
+  protected:
+};
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+{
+  typedef IndexType Index;
+  typedef Matrix<Index, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+{
+    typedef internal::traits<Transpositions> Traits;
+  public:
+
+    typedef TranspositionsBase<Transpositions> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline Transpositions() {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline Transpositions(const TranspositionsBase<OtherDerived>& other)
+      : m_indices(other.indices()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Standard copy constructor. Defined only to prevent a default copy constructor
+      * from hiding the other templated constructor */
+    inline Transpositions(const Transpositions& other) : m_indices(other.indices()) {}
+    #endif
+
+    /** Generic constructor from expression of the transposition indices. */
+    template<typename Other>
+    explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Transpositions& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Transpositions& operator=(const Transpositions& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** Constructs an uninitialized permutation matrix of given size.
+      */
+    inline Transpositions(Index size) : m_indices(size)
+    {}
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,_PacketAccess> >
+{
+  typedef IndexType Index;
+  typedef Map<const Matrix<Index,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int PacketAccess>
+class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess>
+ : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess> >
+{
+    typedef internal::traits<Map> Traits;
+  public:
+
+    typedef TranspositionsBase<Map> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline Map(const Index* indices)
+      : m_indices(indices)
+    {}
+
+    inline Map(const Index* indices, Index size)
+      : m_indices(indices,size)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Map& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Map& operator=(const Map& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+namespace internal {
+template<typename _IndicesType>
+struct traits<TranspositionsWrapper<_IndicesType> >
+{
+  typedef typename _IndicesType::Scalar Index;
+  typedef _IndicesType IndicesType;
+};
+}
+
+template<typename _IndicesType>
+class TranspositionsWrapper
+ : public TranspositionsBase<TranspositionsWrapper<_IndicesType> >
+{
+    typedef internal::traits<TranspositionsWrapper> Traits;
+  public:
+
+    typedef TranspositionsBase<TranspositionsWrapper> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline TranspositionsWrapper(IndicesType& indices)
+      : m_indices(indices)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    TranspositionsWrapper& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    TranspositionsWrapper& operator=(const TranspositionsWrapper& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    const typename IndicesType::Nested m_indices;
+};
+
+/** \returns the \a matrix with the \a transpositions applied to the columns.
+  */
+template<typename Derived, typename TranspositionsDerived>
+inline const internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, OnTheRight>
+operator*(const MatrixBase<Derived>& matrix,
+          const TranspositionsBase<TranspositionsDerived> &transpositions)
+{
+  return internal::transposition_matrix_product_retval
+           <TranspositionsDerived, Derived, OnTheRight>
+           (transpositions.derived(), matrix.derived());
+}
+
+/** \returns the \a matrix with the \a transpositions applied to the rows.
+  */
+template<typename Derived, typename TranspositionDerived>
+inline const internal::transposition_matrix_product_retval
+               <TranspositionDerived, Derived, OnTheLeft>
+operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
+          const MatrixBase<Derived>& matrix)
+{
+  return internal::transposition_matrix_product_retval
+           <TranspositionDerived, Derived, OnTheLeft>
+           (transpositions.derived(), matrix.derived());
+}
+
+namespace internal {
+
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
+struct traits<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
+struct transposition_matrix_product_retval
+ : public ReturnByValue<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
+{
+    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
+    typedef typename TranspositionType::Index Index;
+
+    transposition_matrix_product_retval(const TranspositionType& tr, const MatrixType& matrix)
+      : m_transpositions(tr), m_matrix(matrix)
+    {}
+
+    inline int rows() const { return m_matrix.rows(); }
+    inline int cols() const { return m_matrix.cols(); }
+
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      const int size = m_transpositions.size();
+      Index j = 0;
+
+      if(!(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix)))
+        dst = m_matrix;
+
+      for(int k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
+        if((j=m_transpositions.coeff(k))!=k)
+        {
+          if(Side==OnTheLeft)
+            dst.row(k).swap(dst.row(j));
+          else if(Side==OnTheRight)
+            dst.col(k).swap(dst.col(j));
+        }
+    }
+
+  protected:
+    const TranspositionType& m_transpositions;
+    const typename MatrixType::Nested m_matrix;
+};
+
+} // end namespace internal
+
+/* Template partial specialization for transposed/inverse transpositions */
+
+template<typename TranspositionsDerived>
+class Transpose<TranspositionsBase<TranspositionsDerived> >
+{
+    typedef TranspositionsDerived TranspositionType;
+    typedef typename TranspositionType::IndicesType IndicesType;
+  public:
+
+    Transpose(const TranspositionType& t) : m_transpositions(t) {}
+
+    inline int size() const { return m_transpositions.size(); }
+
+    /** \returns the \a matrix with the inverse transpositions applied to the columns.
+      */
+    template<typename Derived> friend
+    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>
+    operator*(const MatrixBase<Derived>& matrix, const Transpose& trt)
+    {
+      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>(trt.m_transpositions, matrix.derived());
+    }
+
+    /** \returns the \a matrix with the inverse transpositions applied to the rows.
+      */
+    template<typename Derived>
+    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>
+    operator*(const MatrixBase<Derived>& matrix) const
+    {
+      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>(m_transpositions, matrix.derived());
+    }
+
+  protected:
+    const TranspositionType& m_transpositions;
+};
+
+#endif // EIGEN_TRANSPOSITIONS_H
diff --git a/extern/Eigen3/Eigen/src/Core/TriangularMatrix.h b/extern/Eigen3/Eigen/src/Core/TriangularMatrix.h
new file mode 100644
index 00000000000..033e81036f3
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/TriangularMatrix.h
@@ -0,0 +1,838 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULARMATRIX_H
+#define EIGEN_TRIANGULARMATRIX_H
+
+namespace internal {
+  
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval;
+  
+}
+
+/** \internal
+  *
+  * \class TriangularBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for triangular part in a matrix
+  */
+template<typename Derived> class TriangularBase : public EigenBase<Derived>
+{
+  public:
+
+    enum {
+      Mode = internal::traits<Derived>::Mode,
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime
+    };
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::DenseMatrixType DenseMatrixType;
+    typedef DenseMatrixType DenseType;
+
+    inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
+
+    inline Index rows() const { return derived().rows(); }
+    inline Index cols() const { return derived().cols(); }
+    inline Index outerStride() const { return derived().outerStride(); }
+    inline Index innerStride() const { return derived().innerStride(); }
+
+    inline Scalar coeff(Index row, Index col) const  { return derived().coeff(row,col); }
+    inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
+
+    /** \see MatrixBase::copyCoeff(row,col)
+      */
+    template<typename Other>
+    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
+    {
+      derived().coeffRef(row, col) = other.coeff(row, col);
+    }
+
+    inline Scalar operator()(Index row, Index col) const
+    {
+      check_coordinates(row, col);
+      return coeff(row,col);
+    }
+    inline Scalar& operator()(Index row, Index col)
+    {
+      check_coordinates(row, col);
+      return coeffRef(row,col);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+    #endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived> &other) const;
+    template<typename DenseDerived>
+    void evalToLazy(MatrixBase<DenseDerived> &other) const;
+
+    DenseMatrixType toDenseMatrix() const
+    {
+      DenseMatrixType res(rows(), cols());
+      evalToLazy(res);
+      return res;
+    }
+
+  protected:
+
+    void check_coordinates(Index row, Index col) const
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(row);
+      EIGEN_ONLY_USED_FOR_DEBUG(col);
+      eigen_assert(col>=0 && col<cols() && row>=0 && row<rows());
+      const int mode = int(Mode) & ~SelfAdjoint;
+      EIGEN_ONLY_USED_FOR_DEBUG(mode);
+      eigen_assert((mode==Upper && col>=row)
+                || (mode==Lower && col<=row)
+                || ((mode==StrictlyUpper || mode==UnitUpper) && col>row)
+                || ((mode==StrictlyLower || mode==UnitLower) && col<row));
+    }
+
+    #ifdef EIGEN_INTERNAL_DEBUGGING
+    void check_coordinates_internal(Index row, Index col) const
+    {
+      check_coordinates(row, col);
+    }
+    #else
+    void check_coordinates_internal(Index , Index ) const {}
+    #endif
+
+};
+
+/** \class TriangularView
+  * \ingroup Core_Module
+  *
+  * \brief Base class for triangular part in a matrix
+  *
+  * \param MatrixType the type of the object in which we are taking the triangular part
+  * \param Mode the kind of triangular matrix expression to construct. Can be #Upper,
+  *             #Lower, #UnitUpper, #UnitLower, #StrictlyUpper, or #StrictlyLower.
+  *             This is in fact a bit field; it must have either #Upper or #Lower, 
+  *             and additionnaly it may have #UnitDiag or #ZeroDiag or neither.
+  *
+  * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
+  * matrices one should speak of "trapezoid" parts. This class is the return type
+  * of MatrixBase::triangularView() and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::triangularView()
+  */
+namespace internal {
+template<typename MatrixType, unsigned int _Mode>
+struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef MatrixType ExpressionType;
+  typedef typename MatrixType::PlainObject DenseMatrixType;
+  enum {
+    Mode = _Mode,
+    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit))) | Mode,
+    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+  };
+};
+}
+
+template<int Mode, bool LhsIsTriangular,
+         typename Lhs, bool LhsIsVector,
+         typename Rhs, bool RhsIsVector>
+struct TriangularProduct;
+
+template<typename _MatrixType, unsigned int _Mode> class TriangularView
+  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+{
+  public:
+
+    typedef TriangularBase<TriangularView> Base;
+    typedef typename internal::traits<TriangularView>::Scalar Scalar;
+
+    typedef _MatrixType MatrixType;
+    typedef typename internal::traits<TriangularView>::DenseMatrixType DenseMatrixType;
+    typedef DenseMatrixType PlainObject;
+
+  protected:
+    typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+
+    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
+    
+  public:
+    using Base::evalToLazy;
+  
+
+    typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
+    typedef typename internal::traits<TriangularView>::Index Index;
+
+    enum {
+      Mode = _Mode,
+      TransposeMode = (Mode & Upper ? Lower : 0)
+                    | (Mode & Lower ? Upper : 0)
+                    | (Mode & (UnitDiag))
+                    | (Mode & (ZeroDiag))
+    };
+
+    inline TriangularView(const MatrixType& matrix) : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    /** \sa MatrixBase::operator+=() */
+    template<typename Other> TriangularView&  operator+=(const DenseBase<Other>& other) { return *this = m_matrix + other.derived(); }
+    /** \sa MatrixBase::operator-=() */
+    template<typename Other> TriangularView&  operator-=(const DenseBase<Other>& other) { return *this = m_matrix - other.derived(); }
+    /** \sa MatrixBase::operator*=() */
+    TriangularView&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix * other; }
+    /** \sa MatrixBase::operator/=() */
+    TriangularView&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix / other; }
+
+    /** \sa MatrixBase::fill() */
+    void fill(const Scalar& value) { setConstant(value); }
+    /** \sa MatrixBase::setConstant() */
+    TriangularView& setConstant(const Scalar& value)
+    { return *this = MatrixType::Constant(rows(), cols(), value); }
+    /** \sa MatrixBase::setZero() */
+    TriangularView& setZero() { return setConstant(Scalar(0)); }
+    /** \sa MatrixBase::setOnes() */
+    TriangularView& setOnes() { return setConstant(Scalar(1)); }
+
+    /** \sa MatrixBase::coeff()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.coeff(row, col);
+    }
+
+    /** \sa MatrixBase::coeffRef()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
+    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+
+    /** Assigns a triangular matrix to a triangular part of a dense matrix */
+    template<typename OtherDerived>
+    TriangularView& operator=(const TriangularBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    TriangularView& operator=(const MatrixBase<OtherDerived>& other);
+
+    TriangularView& operator=(const TriangularView& other)
+    { return *this = other.nestedExpression(); }
+
+    template<typename OtherDerived>
+    void lazyAssign(const TriangularBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void lazyAssign(const MatrixBase<OtherDerived>& other);
+
+    /** \sa MatrixBase::conjugate() */
+    inline TriangularView<MatrixConjugateReturnType,Mode> conjugate()
+    { return m_matrix.conjugate(); }
+    /** \sa MatrixBase::conjugate() const */
+    inline const TriangularView<MatrixConjugateReturnType,Mode> conjugate() const
+    { return m_matrix.conjugate(); }
+
+    /** \sa MatrixBase::adjoint() */
+    inline TriangularView<typename MatrixType::AdjointReturnType,TransposeMode> adjoint()
+    { return m_matrix.adjoint(); }
+    /** \sa MatrixBase::adjoint() const */
+    inline const TriangularView<typename MatrixType::AdjointReturnType,TransposeMode> adjoint() const
+    { return m_matrix.adjoint(); }
+
+    /** \sa MatrixBase::transpose() */
+    inline TriangularView<Transpose<MatrixType>,TransposeMode> transpose()
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().transpose();
+    }
+    /** \sa MatrixBase::transpose() const */
+    inline const TriangularView<Transpose<MatrixType>,TransposeMode> transpose() const
+    { return m_matrix.transpose(); }
+
+    /** Efficient triangular matrix times vector/matrix product */
+    template<typename OtherDerived>
+    TriangularProduct<Mode,true,MatrixType,false,OtherDerived,OtherDerived::IsVectorAtCompileTime>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return TriangularProduct
+              <Mode,true,MatrixType,false,OtherDerived,OtherDerived::IsVectorAtCompileTime>
+              (m_matrix, rhs.derived());
+    }
+
+    /** Efficient vector/matrix times triangular matrix product */
+    template<typename OtherDerived> friend
+    TriangularProduct<Mode,false,OtherDerived,OtherDerived::IsVectorAtCompileTime,MatrixType,false>
+    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
+    {
+      return TriangularProduct
+              <Mode,false,OtherDerived,OtherDerived::IsVectorAtCompileTime,MatrixType,false>
+              (lhs.derived(),rhs.m_matrix);
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    struct eigen2_product_return_type
+    {
+      typedef typename TriangularView<MatrixType,Mode>::DenseMatrixType DenseMatrixType;
+      typedef typename OtherDerived::PlainObject::DenseType OtherPlainObject;
+      typedef typename ProductReturnType<DenseMatrixType, OtherPlainObject>::Type ProdRetType;
+      typedef typename ProdRetType::PlainObject type;
+    };
+    template<typename OtherDerived>
+    const typename eigen2_product_return_type<OtherDerived>::type
+    operator*(const EigenBase<OtherDerived>& rhs) const
+    {
+      typename OtherDerived::PlainObject::DenseType rhsPlainObject;
+      rhs.evalTo(rhsPlainObject);
+      return this->toDenseMatrix() * rhsPlainObject;
+    }
+    template<typename OtherMatrixType>
+    bool isApprox(const TriangularView<OtherMatrixType, Mode>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return this->toDenseMatrix().isApprox(other.toDenseMatrix(), precision);
+    }
+    template<typename OtherDerived>
+    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return this->toDenseMatrix().isApprox(other, precision);
+    }
+    #endif // EIGEN2_SUPPORT
+
+    template<int Side, typename Other>
+    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+    solve(const MatrixBase<Other>& other) const;
+
+    template<int Side, typename OtherDerived>
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename Other>
+    inline const internal::triangular_solve_retval<OnTheLeft,TriangularView, Other> 
+    solve(const MatrixBase<Other>& other) const
+    { return solve<OnTheLeft>(other); }
+
+    template<typename OtherDerived>
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const
+    { return solveInPlace<OnTheLeft>(other); }
+
+    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
+    {
+      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+    SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
+    {
+      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+
+    template<typename OtherDerived>
+    void swap(TriangularBase<OtherDerived> const & other)
+    {
+      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+    }
+
+    template<typename OtherDerived>
+    void swap(MatrixBase<OtherDerived> const & other)
+    {
+      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+    }
+
+    Scalar determinant() const
+    {
+      if (Mode & UnitDiag)
+        return 1;
+      else if (Mode & ZeroDiag)
+        return 0;
+      else
+        return m_matrix.diagonal().prod();
+    }
+    
+    // TODO simplify the following:
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      setZero();
+      return assignProduct(other,1);
+    }
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      return assignProduct(other,1);
+    }
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      return assignProduct(other,-1);
+    }
+    
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator=(const ScaledProduct<ProductDerived>& other)
+    {
+      setZero();
+      return assignProduct(other,other.alpha());
+    }
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator+=(const ScaledProduct<ProductDerived>& other)
+    {
+      return assignProduct(other,other.alpha());
+    }
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator-=(const ScaledProduct<ProductDerived>& other)
+    {
+      return assignProduct(other,-other.alpha());
+    }
+    
+  protected:
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& assignProduct(const ProductBase<ProductDerived, Lhs,Rhs>& prod, const Scalar& alpha);
+
+    const MatrixTypeNested m_matrix;
+};
+
+/***************************************************************************
+* Implementation of triangular evaluation/assignment
+***************************************************************************/
+
+namespace internal {
+
+template<typename Derived1, typename Derived2, unsigned int Mode, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+  
+  typedef typename Derived1::Scalar Scalar;
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, Mode, UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    eigen_assert( Mode == Upper || Mode == Lower
+            || Mode == StrictlyUpper || Mode == StrictlyLower
+            || Mode == UnitUpper || Mode == UnitLower);
+    if((Mode == Upper && row <= col)
+    || (Mode == Lower && row >= col)
+    || (Mode == StrictlyUpper && row < col)
+    || (Mode == StrictlyLower && row > col)
+    || (Mode == UnitUpper && row < col)
+    || (Mode == UnitLower && row > col))
+      dst.copyCoeff(row, col, src);
+    else if(ClearOpposite)
+    {
+      if (Mode&UnitDiag && row==col)
+        dst.coeffRef(row, col) = Scalar(1);
+      else
+        dst.coeffRef(row, col) = Scalar(0);
+    }
+  }
+};
+
+// prevent buggy user code from causing an infinite recursion
+template<typename Derived1, typename Derived2, unsigned int Mode, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Mode, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Upper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  typedef typename Derived1::Scalar Scalar;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = (std::min)(j, dst.rows()-1);
+      for(Index i = 0; i <= maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+        for(Index i = maxi+1; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = Scalar(0);
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Lower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = j; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      Index maxi = (std::min)(j, dst.rows());
+      if (ClearOpposite)
+        for(Index i = 0; i < maxi; ++i)
+          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = (std::min)(j, dst.rows());
+      for(Index i = 0; i < maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+        for(Index i = maxi; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = 0;
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, StrictlyLower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = j+1; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      Index maxi = (std::min)(j, dst.rows()-1);
+      if (ClearOpposite)
+        for(Index i = 0; i <= maxi; ++i)
+          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, UnitUpper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = (std::min)(j, dst.rows());
+      for(Index i = 0; i < maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+      {
+        for(Index i = maxi+1; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = 0;
+      }
+    }
+    dst.diagonal().setOnes();
+  }
+};
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, UnitLower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = (std::min)(j, dst.rows());
+      for(Index i = maxi+1; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+      {
+        for(Index i = 0; i < maxi; ++i)
+          dst.coeffRef(i, j) = 0;
+      }
+    }
+    dst.diagonal().setOnes();
+  }
+};
+
+} // end namespace internal
+
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularView<MatrixType, Mode>::operator=(const MatrixBase<OtherDerived>& other)
+{
+  if(OtherDerived::Flags & EvalBeforeAssigningBit)
+  {
+    typename internal::plain_matrix_type<OtherDerived>::type other_evaluated(other.rows(), other.cols());
+    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived());
+    lazyAssign(other_evaluated);
+  }
+  else
+    lazyAssign(other.derived());
+  return *this;
+}
+
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>& other)
+{
+  enum {
+    unroll = MatrixType::SizeAtCompileTime != Dynamic
+          && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
+          && MatrixType::SizeAtCompileTime*internal::traits<OtherDerived>::CoeffReadCost/2 <= EIGEN_UNROLLING_LIMIT
+  };
+  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
+
+  internal::triangular_assignment_selector
+    <MatrixType, OtherDerived, int(Mode),
+    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
+    false // do not change the opposite triangular part
+    >::run(m_matrix.const_cast_derived(), other.derived());
+}
+
+
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularView<MatrixType, Mode>::operator=(const TriangularBase<OtherDerived>& other)
+{
+  eigen_assert(Mode == int(OtherDerived::Mode));
+  if(internal::traits<OtherDerived>::Flags & EvalBeforeAssigningBit)
+  {
+    typename OtherDerived::DenseMatrixType other_evaluated(other.rows(), other.cols());
+    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived().nestedExpression());
+    lazyAssign(other_evaluated);
+  }
+  else
+    lazyAssign(other.derived().nestedExpression());
+  return *this;
+}
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularView<MatrixType, Mode>::lazyAssign(const TriangularBase<OtherDerived>& other)
+{
+  enum {
+    unroll = MatrixType::SizeAtCompileTime != Dynamic
+                   && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
+                   && MatrixType::SizeAtCompileTime * internal::traits<OtherDerived>::CoeffReadCost / 2
+                        <= EIGEN_UNROLLING_LIMIT
+  };
+  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
+
+  internal::triangular_assignment_selector
+    <MatrixType, OtherDerived, int(Mode),
+    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
+    false // preserve the opposite triangular part
+    >::run(m_matrix.const_cast_derived(), other.derived().nestedExpression());
+}
+
+/***************************************************************************
+* Implementation of TriangularBase methods
+***************************************************************************/
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
+{
+  if(internal::traits<Derived>::Flags & EvalBeforeAssigningBit)
+  {
+    typename internal::plain_matrix_type<Derived>::type other_evaluated(rows(), cols());
+    evalToLazy(other_evaluated);
+    other.derived().swap(other_evaluated);
+  }
+  else
+    evalToLazy(other.derived());
+}
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
+{
+  enum {
+    unroll = DenseDerived::SizeAtCompileTime != Dynamic
+                   && internal::traits<Derived>::CoeffReadCost != Dynamic
+                   && DenseDerived::SizeAtCompileTime * internal::traits<Derived>::CoeffReadCost / 2
+                        <= EIGEN_UNROLLING_LIMIT
+  };
+  other.derived().resize(this->rows(), this->cols());
+
+  internal::triangular_assignment_selector
+    <DenseDerived, typename internal::traits<Derived>::MatrixTypeNestedCleaned, Derived::Mode,
+    unroll ? int(DenseDerived::SizeAtCompileTime) : Dynamic,
+    true // clear the opposite triangular part
+    >::run(other.derived(), derived().nestedExpression());
+}
+
+/***************************************************************************
+* Implementation of TriangularView methods
+***************************************************************************/
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+#ifdef EIGEN2_SUPPORT
+
+// implementation of part<>(), including the SelfAdjoint case.
+
+namespace internal {
+template<typename MatrixType, unsigned int Mode>
+struct eigen2_part_return_type
+{
+  typedef TriangularView<MatrixType, Mode> type;
+};
+
+template<typename MatrixType>
+struct eigen2_part_return_type<MatrixType, SelfAdjoint>
+{
+  typedef SelfAdjointView<MatrixType, Upper> type;
+};
+}
+
+/** \deprecated use MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+const typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part() const
+{
+  return derived();
+}
+
+/** \deprecated use MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part()
+{
+  return derived();
+}
+#endif
+
+/**
+  * \returns an expression of a triangular view extracted from the current matrix
+  *
+  * The parameter \a Mode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
+  * \c #Lower, \c #StrictlyLower, \c #UnitLower.
+  *
+  * Example: \include MatrixBase_extract.cpp
+  * Output: \verbinclude MatrixBase_extract.out
+  *
+  * \sa class TriangularView
+  */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView()
+{
+  return derived();
+}
+
+/** This is the const version of MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView() const
+{
+  return derived();
+}
+
+/** \returns true if *this is approximately equal to an upper triangular matrix,
+  *          within the precision given by \a prec.
+  *
+  * \sa isLowerTriangular()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isUpperTriangular(RealScalar prec) const
+{
+  RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+  {
+    Index maxi = (std::min)(j, rows()-1);
+    for(Index i = 0; i <= maxi; ++i)
+    {
+      RealScalar absValue = internal::abs(coeff(i,j));
+      if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
+    }
+  }
+  RealScalar threshold = maxAbsOnUpperPart * prec;
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = j+1; i < rows(); ++i)
+      if(internal::abs(coeff(i, j)) > threshold) return false;
+  return true;
+}
+
+/** \returns true if *this is approximately equal to a lower triangular matrix,
+  *          within the precision given by \a prec.
+  *
+  * \sa isUpperTriangular()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isLowerTriangular(RealScalar prec) const
+{
+  RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = j; i < rows(); ++i)
+    {
+      RealScalar absValue = internal::abs(coeff(i,j));
+      if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
+    }
+  RealScalar threshold = maxAbsOnLowerPart * prec;
+  for(Index j = 1; j < cols(); ++j)
+  {
+    Index maxi = (std::min)(j, rows()-1);
+    for(Index i = 0; i < maxi; ++i)
+      if(internal::abs(coeff(i, j)) > threshold) return false;
+  }
+  return true;
+}
+
+#endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/VectorBlock.h b/extern/Eigen3/Eigen/src/Core/VectorBlock.h
new file mode 100644
index 00000000000..858e4c7865a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/VectorBlock.h
@@ -0,0 +1,296 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_VECTORBLOCK_H
+#define EIGEN_VECTORBLOCK_H
+
+/** \class VectorBlock
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size sub-vector
+  *
+  * \param VectorType the type of the object in which we are taking a sub-vector
+  * \param Size size of the sub-vector we are taking at compile time (optional)
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
+  * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
+  * most of the time this is the only way it is used.
+  *
+  * However, if you want to directly maniputate sub-vector expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_VectorBlock.cpp
+  * Output: \verbinclude class_VectorBlock.out
+  *
+  * \note Even though this expression has dynamic size, in the case where \a VectorType
+  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+  * it does not cause a dynamic memory allocation.
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedVectorBlock.cpp
+  * Output: \verbinclude class_FixedVectorBlock.out
+  *
+  * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
+  */
+
+namespace internal {
+template<typename VectorType, int Size>
+struct traits<VectorBlock<VectorType, Size> >
+  : public traits<Block<VectorType,
+                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
+{
+};
+}
+
+template<typename VectorType, int Size> class VectorBlock
+  : public Block<VectorType,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1>
+{
+    typedef Block<VectorType,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1> Base;
+    enum {
+      IsColVector = !(internal::traits<VectorType>::Flags & RowMajorBit)
+    };
+  public:
+    EIGEN_DENSE_PUBLIC_INTERFACE(VectorBlock)
+
+    using Base::operator=;
+
+    /** Dynamic-size constructor
+      */
+    inline VectorBlock(VectorType& vector, Index start, Index size)
+      : Base(vector,
+             IsColVector ? start : 0, IsColVector ? 0 : start,
+             IsColVector ? size  : 1, IsColVector ? 1 : size)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+    }
+
+    /** Fixed-size constructor
+      */
+    inline VectorBlock(VectorType& vector, Index start)
+      : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+    }
+};
+
+
+/** \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
+  *
+  * \only_for_vectors
+  *
+  * \param start the first coefficient in the segment
+  * \param size the number of coefficients in the segment
+  *
+  * Example: \include MatrixBase_segment_int_int.cpp
+  * Output: \verbinclude MatrixBase_segment_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, segment(Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::segment(Index start, Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), start, size);
+}
+
+/** This is the const version of segment(Index,Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::segment(Index start, Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), start, size);
+}
+
+/** \returns a dynamic-size expression of the first coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * \param size the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_start_int.cpp
+  * Output: \verbinclude MatrixBase_start_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::head(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), 0, size);
+}
+
+/** This is the const version of head(Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::head(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), 0, size);
+}
+
+/** \returns a dynamic-size expression of the last coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * \param size the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_end_int.cpp
+  * Output: \verbinclude MatrixBase_end_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::tail(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), this->size() - size, size);
+}
+
+/** This is the const version of tail(Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::tail(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), this->size() - size, size);
+}
+
+/** \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * \param start the index of the first element of the sub-vector
+  *
+  * Example: \include MatrixBase_template_int_segment.cpp
+  * Output: \verbinclude MatrixBase_template_int_segment.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::segment(Index start)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), start);
+}
+
+/** This is the const version of segment<int>(Index).*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::segment(Index start) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), start);
+}
+
+/** \returns a fixed-size expression of the first coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_template_int_start.cpp
+  * Output: \verbinclude MatrixBase_template_int_start.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::head()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), 0);
+}
+
+/** This is the const version of head<int>().*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::head() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), 0);
+}
+
+/** \returns a fixed-size expression of the last coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_template_int_end.cpp
+  * Output: \verbinclude MatrixBase_template_int_end.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::tail()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), size() - Size);
+}
+
+/** This is the const version of tail<int>.*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::tail() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), size() - Size);
+}
+
+
+#endif // EIGEN_VECTORBLOCK_H
diff --git a/extern/Eigen3/Eigen/src/Core/VectorwiseOp.h b/extern/Eigen3/Eigen/src/Core/VectorwiseOp.h
new file mode 100644
index 00000000000..20f6881575b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/VectorwiseOp.h
@@ -0,0 +1,557 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARTIAL_REDUX_H
+#define EIGEN_PARTIAL_REDUX_H
+
+/** \class PartialReduxExpr
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression of a partially reduxed matrix
+  *
+  * \tparam MatrixType the type of the matrix we are applying the redux operation
+  * \tparam MemberOp type of the member functor
+  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
+  *
+  * This class represents an expression of a partial redux operator of a matrix.
+  * It is the return type of some VectorwiseOp functions,
+  * and most of the time this is the only way it is used.
+  *
+  * \sa class VectorwiseOp
+  */
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr;
+
+namespace internal {
+template<typename MatrixType, typename MemberOp, int Direction>
+struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
+ : traits<MatrixType>
+{
+  typedef typename MemberOp::result_type Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename MatrixType::Scalar InputScalar;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
+    Flags0 = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
+    Flags = (Flags0 & ~RowMajorBit) | (RowsAtCompileTime == 1 ? RowMajorBit : 0),
+    TraversalSize = Direction==Vertical ? RowsAtCompileTime : ColsAtCompileTime
+  };
+  #if EIGEN_GNUC_AT_LEAST(3,4)
+  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+  #else
+  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
+  #endif
+  enum {
+    CoeffReadCost = TraversalSize * traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
+  };
+};
+}
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr : internal::no_assignment_operator,
+  public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
+    typedef typename internal::traits<PartialReduxExpr>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<PartialReduxExpr>::_MatrixTypeNested _MatrixTypeNested;
+
+    PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
+      : m_matrix(mat), m_functor(func) {}
+
+    Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
+    Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index i, Index j) const
+    {
+      if (Direction==Vertical)
+        return m_functor(m_matrix.col(j));
+      else
+        return m_functor(m_matrix.row(i));
+    }
+
+    const Scalar coeff(Index index) const
+    {
+      if (Direction==Vertical)
+        return m_functor(m_matrix.col(index));
+      else
+        return m_functor(m_matrix.row(index));
+    }
+
+  protected:
+    const MatrixTypeNested m_matrix;
+    const MemberOp m_functor;
+};
+
+#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST)                               \
+  template <typename ResultType>                                        \
+  struct member_##MEMBER {                                           \
+    EIGEN_EMPTY_STRUCT_CTOR(member_##MEMBER)                         \
+    typedef ResultType result_type;                                     \
+    template<typename Scalar, int Size> struct Cost                     \
+    { enum { value = COST }; };                                         \
+    template<typename XprType>                                          \
+    EIGEN_STRONG_INLINE ResultType operator()(const XprType& mat) const \
+    { return mat.MEMBER(); } \
+  }
+
+namespace internal {
+
+EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(stableNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(blueNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(hypotNorm, (Size-1) * functor_traits<scalar_hypot_op<Scalar> >::Cost );
+EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(mean, (Size-1)*NumTraits<Scalar>::AddCost + NumTraits<Scalar>::MulCost);
+EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
+
+
+template <typename BinaryOp, typename Scalar>
+struct member_redux {
+  typedef typename result_of<
+                     BinaryOp(Scalar)
+                   >::type  result_type;
+  template<typename _Scalar, int Size> struct Cost
+  { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
+  member_redux(const BinaryOp func) : m_functor(func) {}
+  template<typename Derived>
+  inline result_type operator()(const DenseBase<Derived>& mat) const
+  { return mat.redux(m_functor); }
+  const BinaryOp m_functor;
+};
+}
+
+/** \class VectorwiseOp
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression providing partial reduction operations
+  *
+  * \param ExpressionType the type of the object on which to do partial reductions
+  * \param Direction indicates the direction of the redux (#Vertical or #Horizontal)
+  *
+  * This class represents a pseudo expression with partial reduction features.
+  * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
+  * and most of the time this is the only way it is used.
+  *
+  * Example: \include MatrixBase_colwise.cpp
+  * Output: \verbinclude MatrixBase_colwise.out
+  *
+  * \sa DenseBase::colwise(), DenseBase::rowwise(), class PartialReduxExpr
+  */
+template<typename ExpressionType, int Direction> class VectorwiseOp
+{
+  public:
+
+    typedef typename ExpressionType::Scalar Scalar;
+    typedef typename ExpressionType::RealScalar RealScalar;
+    typedef typename ExpressionType::Index Index;
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, ExpressionType&>::type ExpressionTypeNested;
+    typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
+
+    template<template<typename _Scalar> class Functor,
+                      typename Scalar=typename internal::traits<ExpressionType>::Scalar> struct ReturnType
+    {
+      typedef PartialReduxExpr<ExpressionType,
+                               Functor<Scalar>,
+                               Direction
+                              > Type;
+    };
+
+    template<typename BinaryOp> struct ReduxReturnType
+    {
+      typedef PartialReduxExpr<ExpressionType,
+                               internal::member_redux<BinaryOp,typename internal::traits<ExpressionType>::Scalar>,
+                               Direction
+                              > Type;
+    };
+
+    enum {
+      IsVertical   = (Direction==Vertical) ? 1 : 0,
+      IsHorizontal = (Direction==Horizontal) ? 1 : 0
+    };
+
+  protected:
+
+    /** \internal
+      * \returns the i-th subvector according to the \c Direction */
+    typedef typename internal::conditional<Direction==Vertical,
+                               typename ExpressionType::ColXpr,
+                               typename ExpressionType::RowXpr>::type SubVector;
+    SubVector subVector(Index i)
+    {
+      return SubVector(m_matrix.derived(),i);
+    }
+
+    /** \internal
+      * \returns the number of subvectors in the direction \c Direction */
+    Index subVectors() const
+    { return Direction==Vertical?m_matrix.cols():m_matrix.rows(); }
+
+    template<typename OtherDerived> struct ExtendedType {
+      typedef Replicate<OtherDerived,
+                        Direction==Vertical   ? 1 : ExpressionType::RowsAtCompileTime,
+                        Direction==Horizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
+    };
+
+    /** \internal
+      * Replicates a vector to match the size of \c *this */
+    template<typename OtherDerived>
+    typename ExtendedType<OtherDerived>::Type
+    extendedTo(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return typename ExtendedType<OtherDerived>::Type
+                      (other.derived(),
+                       Direction==Vertical   ? 1 : m_matrix.rows(),
+                       Direction==Horizontal ? 1 : m_matrix.cols());
+    }
+
+  public:
+
+    inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
+
+    /** \internal */
+    inline const ExpressionType& _expression() const { return m_matrix; }
+
+    /** \returns a row or column vector expression of \c *this reduxed by \a func
+      *
+      * The template parameter \a BinaryOp is the type of the functor
+      * of the custom redux operator. Note that func must be an associative operator.
+      *
+      * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
+      */
+    template<typename BinaryOp>
+    const typename ReduxReturnType<BinaryOp>::Type
+    redux(const BinaryOp& func = BinaryOp()) const
+    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), func); }
+
+    /** \returns a row (or column) vector expression of the smallest coefficient
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_minCoeff.cpp
+      * Output: \verbinclude PartialRedux_minCoeff.out
+      *
+      * \sa DenseBase::minCoeff() */
+    const typename ReturnType<internal::member_minCoeff>::Type minCoeff() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the largest coefficient
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_maxCoeff.cpp
+      * Output: \verbinclude PartialRedux_maxCoeff.out
+      *
+      * \sa DenseBase::maxCoeff() */
+    const typename ReturnType<internal::member_maxCoeff>::Type maxCoeff() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the squared norm
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_squaredNorm.cpp
+      * Output: \verbinclude PartialRedux_squaredNorm.out
+      *
+      * \sa DenseBase::squaredNorm() */
+    const typename ReturnType<internal::member_squaredNorm,RealScalar>::Type squaredNorm() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_norm.cpp
+      * Output: \verbinclude PartialRedux_norm.out
+      *
+      * \sa DenseBase::norm() */
+    const typename ReturnType<internal::member_norm,RealScalar>::Type norm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, using
+      * blue's algorithm.
+      *
+      * \sa DenseBase::blueNorm() */
+    const typename ReturnType<internal::member_blueNorm,RealScalar>::Type blueNorm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, avoiding
+      * underflow and overflow.
+      *
+      * \sa DenseBase::stableNorm() */
+    const typename ReturnType<internal::member_stableNorm,RealScalar>::Type stableNorm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, avoiding
+      * underflow and overflow using a concatenation of hypot() calls.
+      *
+      * \sa DenseBase::hypotNorm() */
+    const typename ReturnType<internal::member_hypotNorm,RealScalar>::Type hypotNorm() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the sum
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_sum.cpp
+      * Output: \verbinclude PartialRedux_sum.out
+      *
+      * \sa DenseBase::sum() */
+    const typename ReturnType<internal::member_sum>::Type sum() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the mean
+    * of each column (or row) of the referenced expression.
+    *
+    * \sa DenseBase::mean() */
+    const typename ReturnType<internal::member_mean>::Type mean() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * whether \b all coefficients of each respective column (or row) are \c true.
+      *
+      * \sa DenseBase::all() */
+    const typename ReturnType<internal::member_all>::Type all() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * whether \b at \b least one coefficient of each respective column (or row) is \c true.
+      *
+      * \sa DenseBase::any() */
+    const typename ReturnType<internal::member_any>::Type any() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * the number of \c true coefficients of each respective column (or row).
+      *
+      * Example: \include PartialRedux_count.cpp
+      * Output: \verbinclude PartialRedux_count.out
+      *
+      * \sa DenseBase::count() */
+    const PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> count() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the product
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_prod.cpp
+      * Output: \verbinclude PartialRedux_prod.out
+      *
+      * \sa DenseBase::prod() */
+    const typename ReturnType<internal::member_prod>::Type prod() const
+    { return _expression(); }
+
+
+    /** \returns a matrix expression
+      * where each column (or row) are reversed.
+      *
+      * Example: \include Vectorwise_reverse.cpp
+      * Output: \verbinclude Vectorwise_reverse.out
+      *
+      * \sa DenseBase::reverse() */
+    const Reverse<ExpressionType, Direction> reverse() const
+    { return Reverse<ExpressionType, Direction>( _expression() ); }
+
+    typedef Replicate<ExpressionType,Direction==Vertical?Dynamic:1,Direction==Horizontal?Dynamic:1> ReplicateReturnType;
+    const ReplicateReturnType replicate(Index factor) const;
+
+    /**
+      * \return an expression of the replication of each column (or row) of \c *this
+      *
+      * Example: \include DirectionWise_replicate.cpp
+      * Output: \verbinclude DirectionWise_replicate.out
+      *
+      * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
+      */
+    // NOTE implemented here because of sunstudio's compilation errors
+    template<int Factor> const Replicate<ExpressionType,(IsVertical?Factor:1),(IsHorizontal?Factor:1)>
+    replicate(Index factor = Factor) const
+    {
+      return Replicate<ExpressionType,Direction==Vertical?Factor:1,Direction==Horizontal?Factor:1>
+          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+    }
+
+/////////// Artithmetic operators ///////////
+
+    /** Copies the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      //eigen_assert((m_matrix.isNull()) == (other.isNull())); FIXME
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) = other;
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Adds the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) += other.derived();
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Substracts the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) -= other.derived();
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived> EIGEN_STRONG_INLINE
+    CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
+                  const ExpressionTypeNestedCleaned,
+                  const typename ExtendedType<OtherDerived>::Type>
+    operator+(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return m_matrix + extendedTo(other.derived());
+    }
+
+    /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
+    template<typename OtherDerived>
+    CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+                  const ExpressionTypeNestedCleaned,
+                  const typename ExtendedType<OtherDerived>::Type>
+    operator-(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return m_matrix - extendedTo(other.derived());
+    }
+
+/////////// Geometry module ///////////
+
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    Homogeneous<ExpressionType,Direction> homogeneous() const;
+    #endif
+
+    typedef typename ExpressionType::PlainObject CrossReturnType;
+    template<typename OtherDerived>
+    const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
+
+    enum {
+      HNormalized_Size = Direction==Vertical ? internal::traits<ExpressionType>::RowsAtCompileTime
+                                             : internal::traits<ExpressionType>::ColsAtCompileTime,
+      HNormalized_SizeMinusOne = HNormalized_Size==Dynamic ? Dynamic : HNormalized_Size-1
+    };
+    typedef Block<const ExpressionType,
+                  Direction==Vertical   ? int(HNormalized_SizeMinusOne)
+                                        : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+                  Direction==Horizontal ? int(HNormalized_SizeMinusOne)
+                                        : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+            HNormalized_Block;
+    typedef Block<const ExpressionType,
+                  Direction==Vertical   ? 1 : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+                  Direction==Horizontal ? 1 : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+            HNormalized_Factors;
+    typedef CwiseBinaryOp<internal::scalar_quotient_op<typename internal::traits<ExpressionType>::Scalar>,
+                const HNormalized_Block,
+                const Replicate<HNormalized_Factors,
+                  Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
+                  Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
+            HNormalizedReturnType;
+
+    const HNormalizedReturnType hnormalized() const;
+
+  protected:
+    ExpressionTypeNested m_matrix;
+};
+
+/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * Example: \include MatrixBase_colwise.cpp
+  * Output: \verbinclude MatrixBase_colwise.out
+  *
+  * \sa rowwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstColwiseReturnType
+DenseBase<Derived>::colwise() const
+{
+  return derived();
+}
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * \sa rowwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::ColwiseReturnType
+DenseBase<Derived>::colwise()
+{
+  return derived();
+}
+
+/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * Example: \include MatrixBase_rowwise.cpp
+  * Output: \verbinclude MatrixBase_rowwise.out
+  *
+  * \sa colwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstRowwiseReturnType
+DenseBase<Derived>::rowwise() const
+{
+  return derived();
+}
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * \sa colwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::RowwiseReturnType
+DenseBase<Derived>::rowwise()
+{
+  return derived();
+}
+
+#endif // EIGEN_PARTIAL_REDUX_H
diff --git a/extern/Eigen2/Eigen/src/Core/Visitor.h b/extern/Eigen3/Eigen/src/Core/Visitor.h
index 7569114e90d..378ebcba174 100644
--- a/extern/Eigen2/Eigen/src/Core/Visitor.h
+++ b/extern/Eigen3/Eigen/src/Core/Visitor.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,8 +25,10 @@
 #ifndef EIGEN_VISITOR_H
 #define EIGEN_VISITOR_H
 
+namespace internal {
+
 template<typename Visitor, typename Derived, int UnrollCount>
-struct ei_visitor_impl
+struct visitor_impl
 {
   enum {
     col = (UnrollCount-1) / Derived::RowsAtCompileTime,
@@ -35,13 +37,13 @@ struct ei_visitor_impl
 
   inline static void run(const Derived &mat, Visitor& visitor)
   {
-    ei_visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
+    visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
     visitor(mat.coeff(row, col), row, col);
   }
 };
 
 template<typename Visitor, typename Derived>
-struct ei_visitor_impl<Visitor, Derived, 1>
+struct visitor_impl<Visitor, Derived, 1>
 {
   inline static void run(const Derived &mat, Visitor& visitor)
   {
@@ -50,19 +52,21 @@ struct ei_visitor_impl<Visitor, Derived, 1>
 };
 
 template<typename Visitor, typename Derived>
-struct ei_visitor_impl<Visitor, Derived, Dynamic>
+struct visitor_impl<Visitor, Derived, Dynamic>
 {
+  typedef typename Derived::Index Index;
   inline static void run(const Derived& mat, Visitor& visitor)
   {
     visitor.init(mat.coeff(0,0), 0, 0);
-    for(int i = 1; i < mat.rows(); ++i)
+    for(Index i = 1; i < mat.rows(); ++i)
       visitor(mat.coeff(i, 0), i, 0);
-    for(int j = 1; j < mat.cols(); ++j)
-      for(int i = 0; i < mat.rows(); ++i)
+    for(Index j = 1; j < mat.cols(); ++j)
+      for(Index i = 0; i < mat.rows(); ++i)
         visitor(mat.coeff(i, j), i, j);
   }
 };
 
+} // end namespace internal
 
 /** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
   *
@@ -70,38 +74,44 @@ struct ei_visitor_impl<Visitor, Derived, Dynamic>
   * \code
   * struct MyVisitor {
   *   // called for the first coefficient
-  *   void init(const Scalar& value, int i, int j);
+  *   void init(const Scalar& value, Index i, Index j);
   *   // called for all other coefficients
-  *   void operator() (const Scalar& value, int i, int j);
+  *   void operator() (const Scalar& value, Index i, Index j);
   * };
   * \endcode
   *
   * \note compared to one or two \em for \em loops, visitors offer automatic
   * unrolling for small fixed size matrix.
   *
-  * \sa minCoeff(int*,int*), maxCoeff(int*,int*), MatrixBase::redux()
+  * \sa minCoeff(Index*,Index*), maxCoeff(Index*,Index*), DenseBase::redux()
   */
 template<typename Derived>
 template<typename Visitor>
-void MatrixBase<Derived>::visit(Visitor& visitor) const
+void DenseBase<Derived>::visit(Visitor& visitor) const
 {
-  const bool unroll = SizeAtCompileTime * CoeffReadCost
-                    + (SizeAtCompileTime-1) * ei_functor_traits<Visitor>::Cost
-                    <= EIGEN_UNROLLING_LIMIT;
-  return ei_visitor_impl<Visitor, Derived,
+  enum { unroll = SizeAtCompileTime != Dynamic
+                   && CoeffReadCost != Dynamic
+                   && (SizeAtCompileTime == 1 || internal::functor_traits<Visitor>::Cost != Dynamic)
+                   && SizeAtCompileTime * CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost
+                      <= EIGEN_UNROLLING_LIMIT };
+  return internal::visitor_impl<Visitor, Derived,
       unroll ? int(SizeAtCompileTime) : Dynamic
     >::run(derived(), visitor);
 }
 
+namespace internal {
+
 /** \internal
   * \brief Base class to implement min and max visitors
   */
-template <typename Scalar>
-struct ei_coeff_visitor
+template <typename Derived>
+struct coeff_visitor
 {
-  int row, col;
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  Index row, col;
   Scalar res;
-  inline void init(const Scalar& value, int i, int j)
+  inline void init(const Scalar& value, Index i, Index j)
   {
     res = value;
     row = i;
@@ -112,12 +122,14 @@ struct ei_coeff_visitor
 /** \internal
   * \brief Visitor computing the min coefficient with its value and coordinates
   *
-  * \sa MatrixBase::minCoeff(int*, int*)
+  * \sa DenseBase::minCoeff(Index*, Index*)
   */
-template <typename Scalar>
-struct ei_min_coeff_visitor : ei_coeff_visitor<Scalar>
+template <typename Derived>
+struct min_coeff_visitor : coeff_visitor<Derived>
 {
-  void operator() (const Scalar& value, int i, int j)
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  void operator() (const Scalar& value, Index i, Index j)
   {
     if(value < this->res)
     {
@@ -129,7 +141,7 @@ struct ei_min_coeff_visitor : ei_coeff_visitor<Scalar>
 };
 
 template<typename Scalar>
-struct ei_functor_traits<ei_min_coeff_visitor<Scalar> > {
+struct functor_traits<min_coeff_visitor<Scalar> > {
   enum {
     Cost = NumTraits<Scalar>::AddCost
   };
@@ -138,12 +150,14 @@ struct ei_functor_traits<ei_min_coeff_visitor<Scalar> > {
 /** \internal
   * \brief Visitor computing the max coefficient with its value and coordinates
   *
-  * \sa MatrixBase::maxCoeff(int*, int*)
+  * \sa DenseBase::maxCoeff(Index*, Index*)
   */
-template <typename Scalar>
-struct ei_max_coeff_visitor : ei_coeff_visitor<Scalar>
+template <typename Derived>
+struct max_coeff_visitor : coeff_visitor<Derived>
 {
-  void operator() (const Scalar& value, int i, int j)
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  void operator() (const Scalar& value, Index i, Index j)
   {
     if(value > this->res)
     {
@@ -155,22 +169,25 @@ struct ei_max_coeff_visitor : ei_coeff_visitor<Scalar>
 };
 
 template<typename Scalar>
-struct ei_functor_traits<ei_max_coeff_visitor<Scalar> > {
+struct functor_traits<max_coeff_visitor<Scalar> > {
   enum {
     Cost = NumTraits<Scalar>::AddCost
   };
 };
 
+} // end namespace internal
+
 /** \returns the minimum of all coefficients of *this
   * and puts in *row and *col its location.
   *
-  * \sa MatrixBase::minCoeff(int*), MatrixBase::maxCoeff(int*,int*), MatrixBase::visitor(), MatrixBase::minCoeff()
+  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visitor(), DenseBase::minCoeff()
   */
 template<typename Derived>
-typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::minCoeff(int* row, int* col) const
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* row, IndexType* col) const
 {
-  ei_min_coeff_visitor<Scalar> minVisitor;
+  internal::min_coeff_visitor<Derived> minVisitor;
   this->visit(minVisitor);
   *row = minVisitor.row;
   if (col) *col = minVisitor.col;
@@ -180,14 +197,15 @@ MatrixBase<Derived>::minCoeff(int* row, int* col) const
 /** \returns the minimum of all coefficients of *this
   * and puts in *index its location.
   *
-  * \sa MatrixBase::minCoeff(int*,int*), MatrixBase::maxCoeff(int*,int*), MatrixBase::visitor(), MatrixBase::minCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::minCoeff()
   */
 template<typename Derived>
-typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::minCoeff(int* index) const
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* index) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  ei_min_coeff_visitor<Scalar> minVisitor;
+  internal::min_coeff_visitor<Derived> minVisitor;
   this->visit(minVisitor);
   *index = (RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row;
   return minVisitor.res;
@@ -196,13 +214,14 @@ MatrixBase<Derived>::minCoeff(int* index) const
 /** \returns the maximum of all coefficients of *this
   * and puts in *row and *col its location.
   *
-  * \sa MatrixBase::minCoeff(int*,int*), MatrixBase::visitor(), MatrixBase::maxCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
   */
 template<typename Derived>
-typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::maxCoeff(int* row, int* col) const
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* row, IndexType* col) const
 {
-  ei_max_coeff_visitor<Scalar> maxVisitor;
+  internal::max_coeff_visitor<Derived> maxVisitor;
   this->visit(maxVisitor);
   *row = maxVisitor.row;
   if (col) *col = maxVisitor.col;
@@ -212,14 +231,15 @@ MatrixBase<Derived>::maxCoeff(int* row, int* col) const
 /** \returns the maximum of all coefficients of *this
   * and puts in *index its location.
   *
-  * \sa MatrixBase::maxCoeff(int*,int*), MatrixBase::minCoeff(int*,int*), MatrixBase::visitor(), MatrixBase::maxCoeff()
+  * \sa DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
   */
 template<typename Derived>
-typename ei_traits<Derived>::Scalar
-MatrixBase<Derived>::maxCoeff(int* index) const
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* index) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  ei_max_coeff_visitor<Scalar> maxVisitor;
+  internal::max_coeff_visitor<Derived> maxVisitor;
   this->visit(maxVisitor);
   *index = (RowsAtCompileTime==1) ? maxVisitor.col : maxVisitor.row;
   return maxVisitor.res;
diff --git a/extern/Eigen3/Eigen/src/Core/arch/AltiVec/Complex.h b/extern/Eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
new file mode 100644
index 00000000000..f8adf1b6385
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -0,0 +1,228 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_ALTIVEC_H
+#define EIGEN_COMPLEX_ALTIVEC_H
+
+namespace internal {
+
+static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_ZERO_);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+static Packet16uc p16uc_COMPLEX_RE   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_COMPLEX_IM   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_COMPLEX_REV  = vec_sld(p16uc_REVERSE, p16uc_REVERSE, 8);//{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+static Packet16uc p16uc_COMPLEX_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);//{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET_HI = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 1));//{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET_LO = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 2), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 3));//{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  Packet4f  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  /* On AltiVec we cannot load 64-bit registers, so wa have to take care of alignment */
+  if((ptrdiff_t(&from) % 16) == 0)
+    res.v = pload<Packet4f>((const float *)&from);
+  else
+    res.v = ploadu<Packet4f>((const float *)&from);
+  res.v = vec_perm(res.v, res.v, p16uc_PSET_HI);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_add(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_sub(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf((Packet4f)vec_xor((Packet4ui)a.v, p4ui_CONJ_XOR)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet4f v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  v1 = vec_perm(a.v, a.v, p16uc_COMPLEX_RE);
+  // Get the imaginary parts of a
+  v2 = vec_perm(a.v, a.v, p16uc_COMPLEX_IM);
+  // multiply a_re * b 
+  v1 = vec_madd(v1, b.v, p4f_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(v2, b.v, p4f_ZERO);
+  v2 = (Packet4f) vec_xor((Packet4ui)v2, p4ui_CONJ_XOR);
+  // permute back to a proper order
+  v2 = vec_perm(v2, v2, p16uc_COMPLEX_REV);
+  
+  return Packet2cf(vec_add(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_or(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_xor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v, vec_nor(b.v,b.v))); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from)
+{
+  return pset1<Packet2cf>(*from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { vec_dstt((float *)addr, DST_CTRL(2,2,32), DST_CHAN); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 res[2];
+  pstore((float *)&res, a.v);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet4f rev_a;
+  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX_REV2);
+  return Packet2cf(rev_a);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  b = (Packet4f) vec_sld(a.v, a.v, 8);
+  b = padd(a.v, b);
+  return pfirst(Packet2cf(b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  Packet4f b1, b2;
+  
+  b1 = (Packet4f) vec_sld(vecs[0].v, vecs[1].v, 8);
+  b2 = (Packet4f) vec_sld(vecs[1].v, vecs[0].v, 8);
+  b2 = (Packet4f) vec_sld(b2, b2, 8);
+  b2 = padd(b1, b2);
+
+  return Packet2cf(b2);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  Packet2cf prod;
+  b = (Packet4f) vec_sld(a.v, a.v, 8);
+  prod = pmul(a, Packet2cf(b));
+
+  return pfirst(prod);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = vec_sld(first.v, second.v, 8);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  Packet4f s = vec_madd(b.v, b.v, p4f_ZERO);
+  return Packet2cf(pdiv(res.v, vec_add(s,vec_perm(s, s, p16uc_COMPLEX_REV))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
+{
+  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX_REV));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_ALTIVEC_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h b/extern/Eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
new file mode 100644
index 00000000000..dc34ebbd660
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -0,0 +1,509 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Konstantinos Margaritis <markos@codex.gr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_ALTIVEC_H
+#define EIGEN_PACKET_MATH_ALTIVEC_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
+#endif
+
+#ifndef EIGEN_HAS_FUSE_CJMADD
+#define EIGEN_HAS_FUSE_CJMADD 1
+#endif
+
+// NOTE Altivec has 32 registers, but Eigen only accepts a value of 8 or 16
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
+#endif
+
+typedef __vector float          Packet4f;
+typedef __vector int            Packet4i;
+typedef __vector unsigned int   Packet4ui;
+typedef __vector __bool int     Packet4bi;
+typedef __vector short int      Packet8i;
+typedef __vector unsigned char  Packet16uc;
+
+// We don't want to write the same code all the time, but we need to reuse the constants
+// and it doesn't really work to declare them global, so we define macros instead
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
+  Packet4f p4f_##NAME = (Packet4f) vec_splat_s32(X)
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = vec_splat_s32(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#define DST_CHAN 1
+#define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
+
+// Define global static constants:
+static Packet4f p4f_COUNTDOWN = { 3.0, 2.0, 1.0, 0.0 };
+static Packet4i p4i_COUNTDOWN = { 3, 2, 1, 0 };
+static Packet16uc p16uc_REVERSE = {12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3};
+static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
+static Packet16uc p16uc_DUPLICATE = {0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7};
+
+static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1);
+static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0);
+static Packet4f p4f_ZERO_ = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1);
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    // FIXME check the Has*
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+/*
+inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
+{
+  union {
+    Packet4f   v;
+    float n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
+{
+  union {
+    Packet4i   v;
+    int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
+{
+  union {
+    Packet4ui   v;
+    unsigned int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packetbi & v)
+{
+  union {
+    Packet4bi v;
+    unsigned int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+*/
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  float EIGEN_ALIGN16 af[4];
+  af[0] = from;
+  Packet4f vc = vec_ld(0, af);
+  vc = vec_splat(vc, 0);
+  return vc;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from;
+  Packet4i vc = vec_ld(0, ai);
+  vc = vec_splat(vc, 0);
+  return vc;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return vec_add(pset1<Packet4f>(a), p4f_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)     { return vec_add(pset1<Packet4i>(a), p4i_COUNTDOWN); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_add(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_add(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_sub(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_sub(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return psub<Packet4f>(p4f_ZERO, a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return psub<Packet4i>(p4i_ZERO, a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b,p4f_ZERO); }
+/* Commented out: it's actually slower than processing it scalar
+ *
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // Detailed in: http://freevec.org/content/32bit_signed_integer_multiplication_altivec
+  //Set up constants, variables
+  Packet4i a1, b1, bswap, low_prod, high_prod, prod, prod_, v1sel;
+
+  // Get the absolute values
+  a1  = vec_abs(a);
+  b1  = vec_abs(b);
+
+  // Get the signs using xor
+  Packet4bi sgn = (Packet4bi) vec_cmplt(vec_xor(a, b), p4i_ZERO);
+
+  // Do the multiplication for the asbolute values.
+  bswap = (Packet4i) vec_rl((Packet4ui) b1, (Packet4ui) p4i_MINUS16 );
+  low_prod = vec_mulo((Packet8i) a1, (Packet8i)b1);
+  high_prod = vec_msum((Packet8i) a1, (Packet8i) bswap, p4i_ZERO);
+  high_prod = (Packet4i) vec_sl((Packet4ui) high_prod, (Packet4ui) p4i_MINUS16);
+  prod = vec_add( low_prod, high_prod );
+
+  // NOR the product and select only the negative elements according to the sign mask
+  prod_ = vec_nor(prod, prod);
+  prod_ = vec_sel(p4i_ZERO, prod_, sgn);
+
+  // Add 1 to the result to get the negative numbers
+  v1sel = vec_sel(p4i_ZERO, p4i_ONE, sgn);
+  prod_ = vec_add(prod_, v1sel);
+
+  // Merge the results back to the final vector.
+  prod = vec_sel(prod, prod_, sgn);
+
+  return prod;
+}
+*/
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f t, y_0, y_1, res;
+
+  // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
+  y_0 = vec_re(b);
+
+  // Do one Newton-Raphson iteration to get the needed accuracy
+  t   = vec_nmsub(y_0, b, p4f_ONE);
+  y_1 = vec_madd(y_0, t, y_0);
+
+  res = vec_madd(a, y_1, p4f_ZERO);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by AltiVec");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a, b, c); }
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, vec_nor(b, b)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  Packet16uc MSQ, LSQ;
+  Packet16uc mask;
+  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
+  mask = vec_lvsl(0, from);                        // create the permute mask
+  return (Packet4f) vec_perm(MSQ, LSQ, mask);           // align the data
+
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  Packet16uc MSQ, LSQ;
+  Packet16uc mask;
+  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
+  mask = vec_lvsl(0, from);                        // create the permute mask
+  return (Packet4i) vec_perm(MSQ, LSQ, mask);    // align the data
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  Packet4f p;
+  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4f>(from);
+  else                              p = ploadu<Packet4f>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i p;
+  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4i>(from);
+  else                              p = ploadu<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  // Warning: not thread safe!
+  Packet16uc MSQ, LSQ, edges;
+  Packet16uc edgeAlign, align;
+
+  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
+  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
+  edges=vec_perm(LSQ,MSQ,edgeAlign);                        // extract the edges
+  align = vec_lvsr( 0, to );                                // permute map to misalign data
+  MSQ = vec_perm(edges,(Packet16uc)from,align);             // misalign the data (MSQ)
+  LSQ = vec_perm((Packet16uc)from,edges,align);             // misalign the data (LSQ)
+  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
+  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  // Warning: not thread safe!
+  Packet16uc MSQ, LSQ, edges;
+  Packet16uc edgeAlign, align;
+
+  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
+  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
+  edges=vec_perm(LSQ, MSQ, edgeAlign);                      // extract the edges
+  align = vec_lvsr( 0, to );                                // permute map to misalign data
+  MSQ = vec_perm(edges, (Packet16uc) from, align);          // misalign the data (MSQ)
+  LSQ = vec_perm((Packet16uc) from, edges, align);          // misalign the data (LSQ)
+  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
+  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) { return (Packet4f)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) { return (Packet4i)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs(a); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, sum;
+  b   = (Packet4f) vec_sld(a, a, 8);
+  sum = vec_add(a, b);
+  b   = (Packet4f) vec_sld(sum, sum, 4);
+  sum = vec_add(sum, b);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  Packet4f v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = vec_add(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = vec_add(sum[2], sum[3]);
+  // Add the results
+  sum[0] = vec_add(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i sum;
+  sum = vec_sums(a, p4i_ZERO);
+  sum = vec_sld(sum, p4i_ZERO, 12);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = vec_add(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = vec_add(sum[2], sum[3]);
+  // Add the results
+  sum[0] = vec_add(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f prod;
+  prod = pmul(a, (Packet4f)vec_sld(a, a, 8));
+  return pfirst(pmul(prod, (Packet4f)vec_sld(prod, prod, 4)));
+}
+
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return aux[0] * aux[1] * aux[2] * aux[3];
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, res;
+  b = vec_min(a, vec_sld(a, a, 8));
+  res = vec_min(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = vec_min(a, vec_sld(a, a, 8));
+  res = vec_min(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, res;
+  b = vec_max(a, vec_sld(a, a, 8));
+  res = vec_max(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = vec_max(a, vec_sld(a, a, 8));
+  res = vec_max(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = vec_sld(first, second, Offset*4);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = vec_sld(first, second, Offset*4);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_ALTIVEC_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/Default/Settings.h b/extern/Eigen3/Eigen/src/Core/arch/Default/Settings.h
new file mode 100644
index 00000000000..957adc8fe42
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/Default/Settings.h
@@ -0,0 +1,64 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+/* All the parameters defined in this file can be specialized in the
+ * architecture specific files, and/or by the user.
+ * More to come... */
+
+#ifndef EIGEN_DEFAULT_SETTINGS_H
+#define EIGEN_DEFAULT_SETTINGS_H
+
+/** Defines the maximal loop size to enable meta unrolling of loops.
+  * Note that the value here is expressed in Eigen's own notion of "number of FLOPS",
+  * it does not correspond to the number of iterations or the number of instructions
+  */
+#ifndef EIGEN_UNROLLING_LIMIT
+#define EIGEN_UNROLLING_LIMIT 100
+#endif
+
+/** Defines the threshold between a "small" and a "large" matrix.
+  * This threshold is mainly used to select the proper product implementation.
+  */
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+/** Defines the maximal width of the blocks used in the triangular product and solver
+  * for vectors (level 2 blas xTRMV and xTRSV). The default is 8.
+  */
+#ifndef EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH
+#define EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 8
+#endif
+
+
+/** Defines the default number of registers available for that architecture.
+  * Currently it must be 8 or 16. Other values will fail.
+  */
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#endif
+
+#endif // EIGEN_DEFAULT_SETTINGS_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/NEON/Complex.h b/extern/Eigen3/Eigen/src/Core/arch/NEON/Complex.h
new file mode 100644
index 00000000000..8e55548c946
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/NEON/Complex.h
@@ -0,0 +1,270 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_NEON_H
+#define EIGEN_COMPLEX_NEON_H
+
+namespace internal {
+
+static uint32x4_t p4ui_CONJ_XOR = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+static uint32x2_t p2ui_CONJ_XOR = { 0x00000000, 0x80000000 };
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  Packet4f  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  float32x2_t r64;
+  r64 = vld1_f32((float *)&from);
+
+  return Packet2cf(vcombine_f32(r64, r64));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate<Packet4f>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  Packet4ui b = vreinterpretq_u32_f32(a.v);
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet4f v1, v2;
+  float32x2_t a_lo, a_hi;
+
+  // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+  v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
+  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
+  // Multiply the real a with b
+  v1 = vmulq_f32(v1, b.v);
+  // Multiply the imag a with b
+  v2 = vmulq_f32(v2, b.v);
+  // Conjugate v2 
+  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  a_lo = vrev64_f32(vget_low_f32(v2));
+  a_hi = vrev64_f32(vget_high_f32(v2));
+  v2 = vcombine_f32(a_lo, a_hi);
+  // Add and return the result
+  return Packet2cf(vaddq_f32(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { __pld((float *)addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 x[2];
+  vst1q_f32((float *)x, a.v);
+  return x[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  float32x2_t a_lo, a_hi;
+  Packet4f a_r128;
+
+  a_lo = vget_low_f32(a.v);
+  a_hi = vget_high_f32(a.v);
+  a_r128 = vcombine_f32(a_hi, a_lo);
+
+  return Packet2cf(a_r128);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a)
+{
+  return Packet2cf(vrev64q_f32(a.v));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  float32x2_t a1, a2;
+  std::complex<float> s;
+
+  a1 = vget_low_f32(a.v);
+  a2 = vget_high_f32(a.v);
+  a2 = vadd_f32(a1, a2);
+  vst1_f32((float *)&s, a2);
+
+  return s;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  Packet4f sum1, sum2, sum;
+
+  // Add the first two 64-bit float32x2_t of vecs[0]
+  sum1 = vcombine_f32(vget_low_f32(vecs[0].v), vget_low_f32(vecs[1].v));
+  sum2 = vcombine_f32(vget_high_f32(vecs[0].v), vget_high_f32(vecs[1].v));
+  sum = vaddq_f32(sum1, sum2);
+
+  return Packet2cf(sum);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  float32x2_t a1, a2, v1, v2, prod;
+  std::complex<float> s;
+
+  a1 = vget_low_f32(a.v);
+  a2 = vget_high_f32(a.v);
+   // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+  v1 = vdup_lane_f32(a1, 0);
+  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  v2 = vdup_lane_f32(a1, 1);
+  // Multiply the real a with b
+  v1 = vmul_f32(v1, a2);
+  // Multiply the imag a with b
+  v2 = vmul_f32(v2, a2);
+  // Conjugate v2 
+  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  v2 = vrev64_f32(v2);
+  // Add v1, v2
+  prod = vadd_f32(v1, v2);
+
+  vst1_f32((float *)&s, prod);
+
+  return s;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = vextq_f32(first.v, second.v, 2);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  Packet4f s, rev_s;
+  float32x2_t a_lo, a_hi;
+
+  // this computes the norm
+  s = vmulq_f32(b.v, b.v);
+  a_lo = vrev64_f32(vget_low_f32(s));
+  a_hi = vrev64_f32(vget_high_f32(s));
+  rev_s = vcombine_f32(a_lo, a_hi);
+
+  return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_NEON_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/NEON/PacketMath.h b/extern/Eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
new file mode 100644
index 00000000000..478ef8038c0
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -0,0 +1,420 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@codex.gr>
+// Heavily based on Gael's SSE version.
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_NEON_H
+#define EIGEN_PACKET_MATH_NEON_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+// FIXME NEON has 16 quad registers, but since the current register allocator
+// is so bad, it is much better to reduce it to 8
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#endif
+
+typedef float32x4_t Packet4f;
+typedef int32x4_t   Packet4i;
+typedef uint32x4_t  Packet4ui;
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#ifndef __pld
+#define __pld(x) asm volatile ( "   pld [%[addr]]\n" :: [addr] "r" (x) : "cc" );
+#endif
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+   
+    HasDiv  = 1,
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+    // FIXME check the Has*
+  };
+};
+
+#if EIGEN_GNUC_AT_MOST(4,4)
+// workaround gcc 4.2, 4.3 and 4.4 compilatin issue
+EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE void        vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
+EIGEN_STRONG_INLINE void        vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
+#endif
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   { return vdupq_n_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
+{
+  Packet4f countdown = { 0, 1, 2, 3 };
+  return vaddq_f32(pset1<Packet4f>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
+{
+  Packet4i countdown = { 0, 1, 2, 3 };
+  return vaddq_s32(pset1<Packet4i>(a), countdown);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vaddq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vaddq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vsubq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vsubq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return vnegq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return vnegq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmulq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmulq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f inv, restep, div;
+
+  // NEON does not offer a divide instruction, we have to do a reciprocal approximation
+  // However NEON in contrast to other SIMD engines (AltiVec/SSE), offers
+  // a reciprocal estimate AND a reciprocal step -which saves a few instructions
+  // vrecpeq_f32() returns an estimate to 1/b, which we will finetune with
+  // Newton-Raphson and vrecpsq_f32()
+  inv = vrecpeq_f32(b);
+
+  // This returns a differential, by which we will have to multiply inv to get a better
+  // approximation of 1/b.
+  restep = vrecpsq_f32(b, inv);
+  inv = vmulq_f32(restep, inv);
+
+  // Finally, multiply a by 1/b and get the wanted result of the division.
+  div = vmulq_f32(a, inv);
+
+  return div;
+}
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vminq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmaxq_s32(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vandq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vorrq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return veorq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vbicq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*   from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)   { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  float32x2_t lo, hi;
+  lo = vdup_n_f32(*from);
+  hi = vdup_n_f32(*(from+1));
+  return vcombine_f32(lo, hi);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  int32x2_t lo, hi;
+  lo = vdup_n_s32(*from);
+  hi = vdup_n_s32(*(from+1));
+  return vcombine_s32(lo, hi);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { __pld(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { __pld(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
+  float32x2_t a_lo, a_hi;
+  Packet4f a_r64;
+
+  a_r64 = vrev64q_f32(a);
+  a_lo = vget_low_f32(a_r64);
+  a_hi = vget_high_f32(a_r64);
+  return vcombine_f32(a_hi, a_lo);
+}
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
+  int32x2_t a_lo, a_hi;
+  Packet4i a_r64;
+
+  a_r64 = vrev64q_s32(a);
+  a_lo = vget_low_s32(a_r64);
+  a_hi = vget_high_s32(a_r64);
+  return vcombine_s32(a_hi, a_lo);
+}
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, sum;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  sum = vpadd_f32(a_lo, a_hi);
+  sum = vpadd_f32(sum, sum);
+  vst1_f32(s, sum);
+
+  return s[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  float32x4x2_t vtrn1, vtrn2, res1, res2;
+  Packet4f sum1, sum2, sum;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  vtrn1 = vzipq_f32(vecs[0], vecs[2]);
+  vtrn2 = vzipq_f32(vecs[1], vecs[3]);
+  res1 = vzipq_f32(vtrn1.val[0], vtrn2.val[0]);
+  res2 = vzipq_f32(vtrn1.val[1], vtrn2.val[1]);
+
+  // Do the addition of the resulting vectors
+  sum1 = vaddq_f32(res1.val[0], res1.val[1]);
+  sum2 = vaddq_f32(res2.val[0], res2.val[1]);
+  sum = vaddq_f32(sum1, sum2);
+
+  return sum;
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, sum;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  sum = vpadd_s32(a_lo, a_hi);
+  sum = vpadd_s32(sum, sum);
+  vst1_s32(s, sum);
+
+  return s[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  int32x4x2_t vtrn1, vtrn2, res1, res2;
+  Packet4i sum1, sum2, sum;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  vtrn1 = vzipq_s32(vecs[0], vecs[2]);
+  vtrn2 = vzipq_s32(vecs[1], vecs[3]);
+  res1 = vzipq_s32(vtrn1.val[0], vtrn2.val[0]);
+  res2 = vzipq_s32(vtrn1.val[1], vtrn2.val[1]);
+
+  // Do the addition of the resulting vectors
+  sum1 = vaddq_s32(res1.val[0], res1.val[1]);
+  sum2 = vaddq_s32(res2.val[0], res2.val[1]);
+  sum = vaddq_s32(sum1, sum2);
+
+  return sum;
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, prod;
+  float s[2];
+
+  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+  prod = vmul_f32(a_lo, a_hi);
+  // Multiply prod with its swapped value |a2*a4|a1*a3|
+  prod = vmul_f32(prod, vrev64_f32(prod));
+  vst1_f32(s, prod);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, prod;
+  int32_t s[2];
+
+  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+  prod = vmul_s32(a_lo, a_hi);
+  // Multiply prod with its swapped value |a2*a4|a1*a3|
+  prod = vmul_s32(prod, vrev64_s32(prod));
+  vst1_s32(s, prod);
+
+  return s[0];
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, min;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  min = vpmin_f32(a_lo, a_hi);
+  min = vpmin_f32(min, min);
+  vst1_f32(s, min);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, min;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  min = vpmin_s32(a_lo, a_hi);
+  min = vpmin_s32(min, min);
+  vst1_s32(s, min);
+
+  return s[0];
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, max;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  max = vpmax_f32(a_lo, a_hi);
+  max = vpmax_f32(max, max);
+  vst1_f32(s, max);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, max;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  max = vpmax_s32(a_lo, a_hi);
+  max = vpmax_s32(max, max);
+  vst1_s32(s, max);
+
+  return s[0];
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = vextq_f32(first, second, Offset);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = vextq_s32(first, second, Offset);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_NEON_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/SSE/Complex.h b/extern/Eigen3/Eigen/src/Core/arch/SSE/Complex.h
new file mode 100644
index 00000000000..c352bb3e6cf
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/SSE/Complex.h
@@ -0,0 +1,447 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_SSE_H
+#define EIGEN_COMPLEX_SSE_H
+
+namespace internal {
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const __m128& a) : v(a) {}
+  __m128  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a)
+{
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+  return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+  return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for SSE3 and 4
+  #ifdef EIGEN_VECTORIZE_SSE3
+  return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
+                                 _mm_mul_ps(_mm_movehdup_ps(a.v),
+                                            vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+//   return Packet2cf(_mm_addsub_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+//                                  _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+//                                             vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+  #else
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x00000000,0x80000000,0x00000000));
+  return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+                              _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                                    vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(&real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(&real_ref(*from))); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  #if EIGEN_GNUC_AT_MOST(4,2)
+  // workaround annoying "may be used uninitialized in this function" warning with gcc 4.2
+  res.v = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)&from);
+  #else
+  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
+  #endif
+  return Packet2cf(_mm_movelh_ps(res.v,res.v));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&real_ref(*to), from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  #if EIGEN_GNUC_AT_MOST(4,3)
+  // Workaround gcc 4.2 ICE - this is not performance wise ideal, but who cares...
+  // This workaround also fix invalid code generation with gcc 4.3
+  EIGEN_ALIGN16 std::complex<float> res[2];
+  _mm_store_ps((float*)res, a.v);
+  return res[0];
+  #else
+  std::complex<float> res;
+  _mm_storel_pi((__m64*)&res, a.v);
+  return res;
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(_mm_castps_pd(a.v)))); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  return pfirst(Packet2cf(_mm_add_ps(a.v, _mm_movehl_ps(a.v,a.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  return Packet2cf(_mm_add_ps(_mm_movelh_ps(vecs[0].v,vecs[1].v), _mm_movehl_ps(vecs[1].v,vecs[0].v)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  return pfirst(pmul(a, Packet2cf(_mm_movehl_ps(a.v,a.v))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = _mm_movehl_ps(first.v, first.v);
+      first.v = _mm_movelh_ps(first.v, second.v);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(a, pconj(b));
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_add_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(pconj(a), b);
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+                                _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                                      vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return pconj(internal::pmul(a, b));
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_sub_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet4f, Packet2cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
+  { return Packet2cf(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cf, Packet4f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
+  { return Packet2cf(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for SSE3 and 4
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  __m128 s = _mm_mul_ps(b.v,b.v);
+  return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
+}
+
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+{
+  return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
+}
+
+
+//---------- double ----------
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const __m128d& a) : v(a) {}
+  __m128d  v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1}; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
+{
+  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+  return Packet1cd(_mm_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for SSE3 and 4
+  #ifdef EIGEN_VECTORIZE_SSE3
+  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                                 _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                            vec2d_swizzle1(b.v, 1, 0))));
+  #else
+  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+  return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                              _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                                    vec2d_swizzle1(b.v, 1, 0)), mask)));
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_andnot_pd(a.v,b.v)); }
+
+// FIXME force unaligned load, this is a temporary fix
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+// FIXME force unaligned store, this is a temporary fix
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  EIGEN_ALIGN16 double res[2];
+  _mm_store_pd(res, a.v);
+  return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+{
+  return vecs[0];
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  EIGEN_STRONG_INLINE static void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(a, pconj(b));
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_add_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                           vec2d_swizzle1(b.v, 1, 0))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(pconj(a), b);
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                                _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                                      vec2d_swizzle1(b.v, 1, 0)), mask)));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return pconj(internal::pmul(a, b));
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_sub_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                           vec2d_swizzle1(b.v, 1, 0))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2d, Packet1cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
+  { return Packet1cd(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet1cd, Packet2d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
+  { return Packet1cd(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for SSE3 and 4
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  __m128d s = _mm_mul_pd(b.v,b.v);
+  return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(x.v));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_SSE_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h b/extern/Eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
new file mode 100644
index 00000000000..9d56d82180b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -0,0 +1,395 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_SSE_H
+#define EIGEN_MATH_FUNCTIONS_SSE_H
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  /* the smallest non denormalized float number */
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
+
+  /* natural logarithm computed for 4 simultaneous float
+    return NaN for x <= 0
+  */
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+
+  Packet4i emm0;
+
+  Packet4f invalid_mask = _mm_cmple_ps(x, _mm_setzero_ps());
+
+  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
+  emm0 = _mm_srli_epi32(_mm_castps_si128(x), 23);
+
+  /* keep only the fractional part */
+  x = _mm_and_ps(x, p4f_inv_mant_mask);
+  x = _mm_or_ps(x, p4f_half);
+
+  emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
+  Packet4f e = padd(_mm_cvtepi32_ps(emm0), p4f_1);
+
+  /* part2:
+     if( x < SQRTHF ) {
+       e -= 1;
+       x = x + x - 1.0;
+     } else { x = x - 1.0; }
+  */
+  Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
+  Packet4f tmp = _mm_and_ps(x, mask);
+  x = psub(x, p4f_1);
+  e = psub(e, _mm_and_ps(p4f_1, mask));
+  x = padd(x, tmp);
+
+  Packet4f x2 = pmul(x,x);
+  Packet4f x3 = pmul(x2,x);
+
+  Packet4f y, y1, y2;
+  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
+  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
+  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
+  y  = pmadd(y , x, p4f_cephes_log_p2);
+  y1 = pmadd(y1, x, p4f_cephes_log_p5);
+  y2 = pmadd(y2, x, p4f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  y1 = pmul(e, p4f_cephes_log_q1);
+  tmp = pmul(x2, p4f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p4f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+  return _mm_or_ps(x, invalid_mask); // negative arg will be NAN
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+
+  _EIGEN_DECLARE_CONST_Packet4f(exp_hi, 88.3762626647949f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+  Packet4f tmp = _mm_setzero_ps(), fx;
+  Packet4i emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+
+  /* how to perform a floorf with SSE: just below */
+  emm0 = _mm_cvttps_epi32(fx);
+  tmp  = _mm_cvtepi32_ps(emm0);
+  /* if greater, substract 1 */
+  Packet4f mask = _mm_cmpgt_ps(tmp, fx);
+  mask = _mm_and_ps(mask, p4f_1);
+  fx = psub(tmp, mask);
+
+  tmp = pmul(fx, p4f_cephes_exp_C1);
+  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  z = pmul(x,x);
+
+  Packet4f y = p4f_cephes_exp_p0;
+  y = pmadd(y, x, p4f_cephes_exp_p1);
+  y = pmadd(y, x, p4f_cephes_exp_p2);
+  y = pmadd(y, x, p4f_cephes_exp_p3);
+  y = pmadd(y, x, p4f_cephes_exp_p4);
+  y = pmadd(y, x, p4f_cephes_exp_p5);
+  y = pmadd(y, z, x);
+  y = padd(y, p4f_1);
+
+  /* build 2^n */
+  emm0 = _mm_cvttps_epi32(fx);
+  emm0 = _mm_add_epi32(emm0, p4i_0x7f);
+  emm0 = _mm_slli_epi32(emm0, 23);
+  return pmul(y, _mm_castsi128_ps(emm0));
+}
+
+/* evaluation of 4 sines at onces, using SSE2 intrinsics.
+
+   The code is the exact rewriting of the cephes sinf function.
+   Precision is excellent as long as x < 8192 (I did not bother to
+   take into account the special handling they have for greater values
+   -- it does not return garbage for arguments over 8192, though, but
+   the extra precision is missing).
+
+   Note that it is such that sinf((float)M_PI) = 8.74e-8, which is the
+   surprising but correct result.
+*/
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psin<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
+
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, sign_bit, y;
+
+  Packet4i emm0, emm2;
+  sign_bit = x;
+  /* take the absolute value */
+  x = pabs(x);
+
+  /* take the modulo */
+
+  /* extract the sign bit (upper one) */
+  sign_bit = _mm_and_ps(sign_bit, p4f_sign_mask);
+
+  /* scale by 4/Pi */
+  y = pmul(x, p4f_cephes_FOPI);
+
+  /* store the integer part of y in mm0 */
+  emm2 = _mm_cvttps_epi32(y);
+  /* j=(j+1) & (~1) (see the cephes sources) */
+  emm2 = _mm_add_epi32(emm2, p4i_1);
+  emm2 = _mm_and_si128(emm2, p4i_not1);
+  y = _mm_cvtepi32_ps(emm2);
+  /* get the swap sign flag */
+  emm0 = _mm_and_si128(emm2, p4i_4);
+  emm0 = _mm_slli_epi32(emm0, 29);
+  /* get the polynom selection mask
+     there is one polynom for 0 <= x <= Pi/4
+     and another one for Pi/4<x<=Pi/2
+
+     Both branches will be computed.
+  */
+  emm2 = _mm_and_si128(emm2, p4i_2);
+  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+  Packet4f swap_sign_bit = _mm_castsi128_ps(emm0);
+  Packet4f poly_mask = _mm_castsi128_ps(emm2);
+  sign_bit = _mm_xor_ps(sign_bit, swap_sign_bit);
+
+  /* The magic pass: "Extended precision modular arithmetic"
+     x = ((x - y * DP1) - y * DP2) - y * DP3; */
+  xmm1 = pmul(y, p4f_minus_cephes_DP1);
+  xmm2 = pmul(y, p4f_minus_cephes_DP2);
+  xmm3 = pmul(y, p4f_minus_cephes_DP3);
+  x = padd(x, xmm1);
+  x = padd(x, xmm2);
+  x = padd(x, xmm3);
+
+  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
+  y = p4f_coscof_p0;
+  Packet4f z = _mm_mul_ps(x,x);
+
+  y = pmadd(y, z, p4f_coscof_p1);
+  y = pmadd(y, z, p4f_coscof_p2);
+  y = pmul(y, z);
+  y = pmul(y, z);
+  Packet4f tmp = pmul(z, p4f_half);
+  y = psub(y, tmp);
+  y = padd(y, p4f_1);
+
+  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
+
+  Packet4f y2 = p4f_sincof_p0;
+  y2 = pmadd(y2, z, p4f_sincof_p1);
+  y2 = pmadd(y2, z, p4f_sincof_p2);
+  y2 = pmul(y2, z);
+  y2 = pmul(y2, x);
+  y2 = padd(y2, x);
+
+  /* select the correct result from the two polynoms */
+  y2 = _mm_and_ps(poly_mask, y2);
+  y = _mm_andnot_ps(poly_mask, y);
+  y = _mm_or_ps(y,y2);
+  /* update the sign */
+  return _mm_xor_ps(y, sign_bit);
+}
+
+/* almost the same as psin */
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pcos<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, y;
+  Packet4i emm0, emm2;
+
+  x = pabs(x);
+
+  /* scale by 4/Pi */
+  y = pmul(x, p4f_cephes_FOPI);
+
+  /* get the integer part of y */
+  emm2 = _mm_cvttps_epi32(y);
+  /* j=(j+1) & (~1) (see the cephes sources) */
+  emm2 = _mm_add_epi32(emm2, p4i_1);
+  emm2 = _mm_and_si128(emm2, p4i_not1);
+  y = _mm_cvtepi32_ps(emm2);
+
+  emm2 = _mm_sub_epi32(emm2, p4i_2);
+
+  /* get the swap sign flag */
+  emm0 = _mm_andnot_si128(emm2, p4i_4);
+  emm0 = _mm_slli_epi32(emm0, 29);
+  /* get the polynom selection mask */
+  emm2 = _mm_and_si128(emm2, p4i_2);
+  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+  Packet4f sign_bit = _mm_castsi128_ps(emm0);
+  Packet4f poly_mask = _mm_castsi128_ps(emm2);
+
+  /* The magic pass: "Extended precision modular arithmetic"
+     x = ((x - y * DP1) - y * DP2) - y * DP3; */
+  xmm1 = pmul(y, p4f_minus_cephes_DP1);
+  xmm2 = pmul(y, p4f_minus_cephes_DP2);
+  xmm3 = pmul(y, p4f_minus_cephes_DP3);
+  x = padd(x, xmm1);
+  x = padd(x, xmm2);
+  x = padd(x, xmm3);
+
+  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
+  y = p4f_coscof_p0;
+  Packet4f z = pmul(x,x);
+
+  y = pmadd(y,z,p4f_coscof_p1);
+  y = pmadd(y,z,p4f_coscof_p2);
+  y = pmul(y, z);
+  y = pmul(y, z);
+  Packet4f tmp = _mm_mul_ps(z, p4f_half);
+  y = psub(y, tmp);
+  y = padd(y, p4f_1);
+
+  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
+  Packet4f y2 = p4f_sincof_p0;
+  y2 = pmadd(y2, z, p4f_sincof_p1);
+  y2 = pmadd(y2, z, p4f_sincof_p2);
+  y2 = pmul(y2, z);
+  y2 = pmadd(y2, x, x);
+
+  /* select the correct result from the two polynoms */
+  y2 = _mm_and_ps(poly_mask, y2);
+  y  = _mm_andnot_ps(poly_mask, y);
+  y  = _mm_or_ps(y,y2);
+
+  /* update the sign */
+  return _mm_xor_ps(y, sign_bit);
+}
+
+// This is based on Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& _x)
+{
+  Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
+
+  /* select only the inverse sqrt of non-zero inputs */
+  Packet4f non_zero_mask = _mm_cmpgt_ps(_x, pset1<Packet4f>(std::numeric_limits<float>::epsilon()));
+  Packet4f x = _mm_and_ps(non_zero_mask, _mm_rsqrt_ps(_x));
+
+  x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
+  return pmul(_x,x);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/extern/Eigen3/Eigen/src/Core/arch/SSE/PacketMath.h b/extern/Eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
new file mode 100644
index 00000000000..908e27368e8
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -0,0 +1,634 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_SSE_H
+#define EIGEN_PACKET_MATH_SSE_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+typedef __m128  Packet4f;
+typedef __m128i Packet4i;
+typedef __m128d Packet2d;
+
+template<> struct is_arithmetic<__m128>  { enum { value = true }; };
+template<> struct is_arithmetic<__m128i> { enum { value = true }; };
+template<> struct is_arithmetic<__m128d> { enum { value = true }; };
+
+#define vec4f_swizzle1(v,p,q,r,s) \
+  (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
+
+#define vec4i_swizzle1(v,p,q,r,s) \
+  (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec2d_swizzle1(v,p,q) \
+  (_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
+  
+#define vec4f_swizzle2(a,b,p,q,r,s) \
+  (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec4i_swizzle2(a,b,p,q,r,s) \
+  (_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+
+    HasDiv    = 1,
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = EIGEN_FAST_MATH,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1
+  };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+
+    HasDiv    = 1
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    // FIXME check the Has*
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+  return _mm_xor_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
+  return _mm_xor_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
+{
+  return psub(_mm_setr_epi32(0,0,0,0), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_mullo_epi32(a,b);
+#else
+  // this version is slightly faster than 4 scalar products
+  return vec4i_swizzle1(
+            vec4i_swizzle2(
+              _mm_mul_epu32(a,b),
+              _mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
+                            vec4i_swizzle1(b,1,0,3,2)),
+              0,2,0,2),
+            0,2,1,3);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by SSE");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmplt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmpgt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
+
+#if defined(_MSC_VER)
+  template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
+    EIGEN_DEBUG_UNALIGNED_LOAD
+    #if (_MSC_VER==1600)
+    // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
+    // (i.e., it does not generate an unaligned load!!
+    // TODO On most architectures this version should also be faster than a single _mm_loadu_ps
+    // so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
+    __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
+    res = _mm_loadh_pi(res, (const __m64*)(from+2));
+    return res;
+    #else
+    return _mm_loadu_ps(from);
+    #endif
+  }
+  template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); }
+  template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*    from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from)); }
+#else
+// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would
+// require pointer casting to incompatible pointer types and leads to invalid code
+// because of the strict aliasing rule. The "dummy" stuff are required to enforce
+// a correct instruction dependency.
+// TODO: do the same for MSVC (ICC is compatible)
+// NOTE: with the code below, MSVC's compiler crashes!
+
+#if defined(__GNUC__) && defined(__i386__)
+  // bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#elif defined(__clang__)
+  // bug 201: Segfaults in __mm_loadh_pd with clang 2.8
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#else
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_ps(from);
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_ps(res);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_pd(from);
+#else
+  __m128d res;
+  res = _mm_load_sd(from) ;
+  res = _mm_loadh_pd(res,from+1);
+  return res;
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from));
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_si128(res);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd((const double*)from)), 0, 0, 1, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
+{ return pset1<Packet2d>(from[0]); }
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i tmp;
+  tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
+  return vec4i_swizzle1(tmp, 0, 0, 1, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE
+  _mm_storel_pd((to), from);
+  _mm_storeh_pd((to+1), from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, _mm_castps_pd(from)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, _mm_castsi128_pd(from)); }
+
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
+{
+  Packet4f pa = _mm_set_ss(a);
+  pstore(to, vec4f_swizzle1(pa,0,0,0,0));
+}
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
+{
+  Packet2d pa = _mm_set_sd(a);
+  pstore(to, vec2d_swizzle1(pa,0,0));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+// Direct of the struct members fixed bug #62.
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#else
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{ return _mm_shuffle_ps(a,a,0x1B); }
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{ return _mm_shuffle_pd(a,a,0x1); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{ return _mm_shuffle_epi32(a,0x1B); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+  return _mm_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+  return _mm_and_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
+{
+  #ifdef EIGEN_VECTORIZE_SSSE3
+  return _mm_abs_epi32(a);
+  #else
+  Packet4i aux = _mm_srai_epi32(a,31);
+  return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
+  #endif
+}
+
+EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
+{
+  vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
+  vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
+  vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
+  vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
+}
+
+#ifdef EIGEN_VECTORIZE_SSE3
+// TODO implement SSE2 versions as well as integer versions
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_hadd_pd(vecs[0], vecs[1]);
+}
+// SSSE3 version:
+// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
+// {
+//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+// }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp0 = _mm_hadd_ps(a,a);
+  return pfirst(_mm_hadd_ps(tmp0, tmp0));
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
+
+// SSSE3 version:
+// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
+// {
+//   Packet4i tmp0 = _mm_hadd_epi32(a,a);
+//   return pfirst(_mm_hadd_epi32(tmp0, tmp0));
+// }
+#else
+// SSE2 versions
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  Packet4f tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
+  tmp0 = _mm_add_ps(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
+  tmp1 = _mm_add_ps(tmp1, tmp2);
+  tmp2 = _mm_movehl_ps(tmp1, tmp0);
+  tmp0 = _mm_movelh_ps(tmp0, tmp1);
+  return _mm_add_ps(tmp0, tmp2);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
+}
+#endif  // SSE3
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
+  return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
+  tmp0 = _mm_add_epi32(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
+  tmp1 = _mm_add_epi32(tmp1, tmp2);
+  tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
+  tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
+  return _mm_add_epi32(tmp0, tmp2);
+}
+
+// Other reduction functions:
+
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., reusing pmul is very slow !)
+  // TODO try to call _mm_mul_epu32 directly
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return  (aux[0] * aux[1]) * (aux[2] * aux[3]);;
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  register int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
+  register int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
+  return aux0<aux2 ? aux0 : aux2;
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  register int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
+  register int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
+  return aux0>aux2 ? aux0 : aux2;
+}
+
+#if (defined __GNUC__)
+// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
+// {
+//   Packet4f res = b;
+//   asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
+//   return res;
+// }
+// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i&  a, const Packet4i&  b, const int i)
+// {
+//   Packet4i res = a;
+//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
+//   return res;
+// }
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+// SSSE3 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = _mm_alignr_epi8(second,first, Offset*4);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+      first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
+  }
+};
+#else
+// SSE2 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
+    }
+    else if (Offset==2)
+    {
+      first = _mm_movehl_ps(first,first);
+      first = _mm_movelh_ps(first,second);
+    }
+    else if (Offset==3)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_shuffle_ps(first,second,0x93);
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_shuffle_epi32(first,0x39);
+    }
+    else if (Offset==2)
+    {
+      first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
+      first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+    }
+    else if (Offset==3)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
+      first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
+    }
+  }
+};
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/CoeffBasedProduct.h b/extern/Eigen3/Eigen/src/Core/products/CoeffBasedProduct.h
new file mode 100644
index 00000000000..dc20f7e1e29
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/CoeffBasedProduct.h
@@ -0,0 +1,452 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COEFFBASED_PRODUCT_H
+#define EIGEN_COEFFBASED_PRODUCT_H
+
+namespace internal {
+
+/*********************************************************************************
+*  Coefficient based product implementation.
+*  It is designed for the following use cases:
+*  - small fixed sizes
+*  - lazy products
+*********************************************************************************/
+
+/* Since the all the dimensions of the product are small, here we can rely
+ * on the generic Assign mechanism to evaluate the product per coeff (or packet).
+ *
+ * Note that here the inner-loops should always be unrolled.
+ */
+
+template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl;
+
+template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl;
+
+template<typename LhsNested, typename RhsNested, int NestingFlags>
+struct traits<CoeffBasedProduct<LhsNested,RhsNested,NestingFlags> >
+{
+  typedef MatrixXpr XprKind;
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+  typedef typename scalar_product_traits<typename _LhsNested::Scalar, typename _RhsNested::Scalar>::ReturnType Scalar;
+  typedef typename promote_storage_type<typename traits<_LhsNested>::StorageKind,
+                                           typename traits<_RhsNested>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
+                                         typename traits<_RhsNested>::Index>::type Index;
+
+  enum {
+      LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+      RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+      LhsFlags = _LhsNested::Flags,
+      RhsFlags = _RhsNested::Flags,
+
+      RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
+      ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
+      InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
+
+      MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
+
+      LhsRowMajor = LhsFlags & RowMajorBit,
+      RhsRowMajor = RhsFlags & RowMajorBit,
+
+      SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
+
+      CanVectorizeRhs = RhsRowMajor && (RhsFlags & PacketAccessBit)
+                      && (ColsAtCompileTime == Dynamic
+                          || ( (ColsAtCompileTime % packet_traits<Scalar>::size) == 0
+                              && (RhsFlags&AlignedBit)
+                             )
+                         ),
+
+      CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit)
+                      && (RowsAtCompileTime == Dynamic
+                          || ( (RowsAtCompileTime % packet_traits<Scalar>::size) == 0
+                              && (LhsFlags&AlignedBit)
+                             )
+                         ),
+
+      EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+                     : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+                     : (RhsRowMajor && !CanVectorizeLhs),
+
+      Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+            | (EvalToRowMajor ? RowMajorBit : 0)
+            | NestingFlags
+            | (LhsFlags & RhsFlags & AlignedBit)
+            // TODO enable vectorization for mixed types
+            | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0),
+
+      CoeffReadCost = InnerSize == Dynamic ? Dynamic
+                    : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+                      + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
+
+      /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
+      * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
+      * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
+      * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
+      */
+      CanVectorizeInner =    SameType
+                          && LhsRowMajor
+                          && (!RhsRowMajor)
+                          && (LhsFlags & RhsFlags & ActualPacketAccessBit)
+                          && (LhsFlags & RhsFlags & AlignedBit)
+                          && (InnerSize % packet_traits<Scalar>::size == 0)
+    };
+};
+
+} // end namespace internal
+
+template<typename LhsNested, typename RhsNested, int NestingFlags>
+class CoeffBasedProduct
+  : internal::no_assignment_operator,
+    public MatrixBase<CoeffBasedProduct<LhsNested, RhsNested, NestingFlags> >
+{
+  public:
+
+    typedef MatrixBase<CoeffBasedProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(CoeffBasedProduct)
+    typedef typename Base::PlainObject PlainObject;
+
+  private:
+
+    typedef typename internal::traits<CoeffBasedProduct>::_LhsNested _LhsNested;
+    typedef typename internal::traits<CoeffBasedProduct>::_RhsNested _RhsNested;
+
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      InnerSize  = internal::traits<CoeffBasedProduct>::InnerSize,
+      Unroll = CoeffReadCost != Dynamic && CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
+      CanVectorizeInner = internal::traits<CoeffBasedProduct>::CanVectorizeInner
+    };
+
+    typedef internal::product_coeff_impl<CanVectorizeInner ? InnerVectorizedTraversal : DefaultTraversal,
+                                   Unroll ? InnerSize-1 : Dynamic,
+                                   _LhsNested, _RhsNested, Scalar> ScalarCoeffImpl;
+
+    typedef CoeffBasedProduct<LhsNested,RhsNested,NestByRefBit> LazyCoeffBasedProductType;
+
+  public:
+
+    inline CoeffBasedProduct(const CoeffBasedProduct& other)
+      : Base(), m_lhs(other.m_lhs), m_rhs(other.m_rhs)
+    {}
+
+    template<typename Lhs, typename Rhs>
+    inline CoeffBasedProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      // we don't allow taking products of matrices of different real types, as that wouldn't be vectorizable.
+      // We still allow to mix T and complex<T>.
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      Scalar res;
+      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
+     * which is why we don't set the LinearAccessBit.
+     */
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      Scalar res;
+      const Index row = RowsAtCompileTime == 1 ? 0 : index;
+      const Index col = RowsAtCompileTime == 1 ? index : 0;
+      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE const PacketScalar packet(Index row, Index col) const
+    {
+      PacketScalar res;
+      internal::product_packet_impl<Flags&RowMajorBit ? RowMajor : ColMajor,
+                              Unroll ? InnerSize-1 : Dynamic,
+                              _LhsNested, _RhsNested, PacketScalar, LoadMode>
+        ::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    // Implicit conversion to the nested type (trigger the evaluation of the product)
+    EIGEN_STRONG_INLINE operator const PlainObject& () const
+    {
+      m_result.lazyAssign(*this);
+      return m_result;
+    }
+
+    const _LhsNested& lhs() const { return m_lhs; }
+    const _RhsNested& rhs() const { return m_rhs; }
+
+    const Diagonal<const LazyCoeffBasedProductType,0> diagonal() const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
+
+    template<int DiagonalIndex>
+    const Diagonal<const LazyCoeffBasedProductType,DiagonalIndex> diagonal() const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
+
+    const Diagonal<const LazyCoeffBasedProductType,Dynamic> diagonal(Index index) const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this).diagonal(index); }
+
+  protected:
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+
+    mutable PlainObject m_result;
+};
+
+namespace internal {
+
+// here we need to overload the nested rule for products
+// such that the nested type is a const reference to a plain matrix
+template<typename Lhs, typename Rhs, int N, typename PlainObject>
+struct nested<CoeffBasedProduct<Lhs,Rhs,EvalBeforeNestingBit|EvalBeforeAssigningBit>, N, PlainObject>
+{
+  typedef PlainObject const& type;
+};
+
+/***************************************************************************
+* Normal product .coeff() implementation (with meta-unrolling)
+***************************************************************************/
+
+/**************************************
+*** Scalar path  - no vectorization ***
+**************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    product_coeff_impl<DefaultTraversal, UnrollingIndex-1, Lhs, Rhs, RetScalar>::run(row, col, lhs, rhs, res);
+    res += lhs.coeff(row, UnrollingIndex) * rhs.coeff(UnrollingIndex, col);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, 0, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, Dynamic, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res += lhs.coeff(row, i) * rhs.coeff(i, col);
+  }
+};
+
+/*******************************************
+*** Scalar path with inner vectorization ***
+*******************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet>
+struct product_coeff_vectorized_unroller
+{
+  typedef typename Lhs::Index Index;
+  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
+  {
+    product_coeff_vectorized_unroller<UnrollingIndex-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
+    pres = padd(pres, pmul( lhs.template packet<Aligned>(row, UnrollingIndex) , rhs.template packet<Aligned>(UnrollingIndex, col) ));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet>
+struct product_coeff_vectorized_unroller<0, Lhs, Rhs, Packet>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
+  {
+    pres = pmul(lhs.template packet<Aligned>(row, 0) , rhs.template packet<Aligned>(0, col));
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<InnerVectorizedTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::PacketScalar Packet;
+  typedef typename Lhs::Index Index;
+  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    Packet pres;
+    product_coeff_vectorized_unroller<UnrollingIndex+1-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
+    product_coeff_impl<DefaultTraversal,UnrollingIndex,Lhs,Rhs,RetScalar>::run(row, col, lhs, rhs, res);
+    res = predux(pres);
+  }
+};
+
+template<typename Lhs, typename Rhs, int LhsRows = Lhs::RowsAtCompileTime, int RhsCols = Rhs::ColsAtCompileTime>
+struct product_coeff_vectorized_dyn_selector
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.row(row).transpose().cwiseProduct(rhs.col(col)).sum();
+  }
+};
+
+// NOTE the 3 following specializations are because taking .col(0) on a vector is a bit slower
+// NOTE maybe they are now useless since we have a specialization for Block<Matrix>
+template<typename Lhs, typename Rhs, int RhsCols>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,RhsCols>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index /*row*/, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.transpose().cwiseProduct(rhs.col(col)).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs, int LhsRows>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,LhsRows,1>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.row(row).transpose().cwiseProduct(rhs).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,1>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index /*row*/, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.transpose().cwiseProduct(rhs).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<InnerVectorizedTraversal, Dynamic, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    product_coeff_vectorized_dyn_selector<Lhs,Rhs>::run(row, col, lhs, rhs, res);
+  }
+};
+
+/*******************
+*** Packet path  ***
+*******************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
+    res =  pmadd(pset1<Packet>(lhs.coeff(row, UnrollingIndex)), rhs.template packet<LoadMode>(UnrollingIndex, col), res);
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
+    res =  pmadd(lhs.template packet<LoadMode>(row, UnrollingIndex), pset1<Packet>(rhs.coeff(UnrollingIndex, col)), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    res = pmul(pset1<Packet>(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    res = pmul(lhs.template packet<LoadMode>(row, 0), pset1<Packet>(rhs.coeff(0, col)));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = pmul(pset1<Packet>(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode>(i, col), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = pmul(lhs.template packet<LoadMode>(row, 0), pset1<Packet>(rhs.coeff(0, col)));
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res =  pmadd(lhs.template packet<LoadMode>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_COEFFBASED_PRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/extern/Eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
new file mode 100644
index 00000000000..6f3f2717007
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -0,0 +1,1285 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_BLOCK_PANEL_H
+#define EIGEN_GENERAL_BLOCK_PANEL_H
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
+class gebp_traits;
+
+/** \internal */
+inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdiff_t* l2=0)
+{
+  static std::ptrdiff_t m_l1CacheSize = 0;
+  static std::ptrdiff_t m_l2CacheSize = 0;
+  if(m_l1CacheSize==0)
+  {
+    m_l1CacheSize = queryL1CacheSize();
+    m_l2CacheSize = queryTopLevelCacheSize();
+
+    if(m_l1CacheSize<=0) m_l1CacheSize = 8 * 1024;
+    if(m_l2CacheSize<=0) m_l2CacheSize = 1 * 1024 * 1024;
+  }
+
+  if(action==SetAction)
+  {
+    // set the cpu cache size and cache all block sizes from a global cache size in byte
+    eigen_internal_assert(l1!=0 && l2!=0);
+    m_l1CacheSize = *l1;
+    m_l2CacheSize = *l2;
+  }
+  else if(action==GetAction)
+  {
+    eigen_internal_assert(l1!=0 && l2!=0);
+    *l1 = m_l1CacheSize;
+    *l2 = m_l2CacheSize;
+  }
+  else
+  {
+    eigen_internal_assert(false);
+  }
+}
+
+/** \brief Computes the blocking parameters for a m x k times k x n matrix product
+  *
+  * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
+  * \param[in,out] m Input: the number of rows of the left hand side. Output: the blocking size along the same dimension.
+  * \param[in,out] n Input: the number of columns of the right hand side. Output: the blocking size along the same dimension.
+  *
+  * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+  * this function computes the blocking size parameters along the respective dimensions
+  * for matrix products and related algorithms. The blocking sizes depends on various
+  * parameters:
+  * - the L1 and L2 cache sizes,
+  * - the register level blocking sizes defined by gebp_traits,
+  * - the number of scalars that fit into a packet (when vectorization is enabled).
+  *
+  * \sa setCpuCacheSizes */
+template<typename LhsScalar, typename RhsScalar, int KcFactor>
+void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, std::ptrdiff_t& n)
+{
+  EIGEN_UNUSED_VARIABLE(n);
+  // Explanations:
+  // Let's recall the product algorithms form kc x nc horizontal panels B' on the rhs and
+  // mc x kc blocks A' on the lhs. A' has to fit into L2 cache. Moreover, B' is processed
+  // per kc x nr vertical small panels where nr is the blocking size along the n dimension
+  // at the register level. For vectorization purpose, these small vertical panels are unpacked,
+  // e.g., each coefficient is replicated to fit a packet. This small vertical panel has to
+  // stay in L1 cache.
+  std::ptrdiff_t l1, l2;
+
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+  enum {
+    kdiv = KcFactor * 2 * Traits::nr
+         * Traits::RhsProgress * sizeof(RhsScalar),
+    mr = gebp_traits<LhsScalar,RhsScalar>::mr,
+    mr_mask = (0xffffffff/mr)*mr
+  };
+
+  manage_caching_sizes(GetAction, &l1, &l2);
+  k = std::min<std::ptrdiff_t>(k, l1/kdiv);
+  std::ptrdiff_t _m = k>0 ? l2/(4 * sizeof(LhsScalar) * k) : 0;
+  if(_m<m) m = _m & mr_mask;
+}
+
+template<typename LhsScalar, typename RhsScalar>
+inline void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, std::ptrdiff_t& n)
+{
+  computeProductBlockingSizes<LhsScalar,RhsScalar,1>(k, m, n);
+}
+
+#ifdef EIGEN_HAS_FUSE_CJMADD
+  #define MADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
+#else
+
+  // FIXME (a bit overkill maybe ?)
+
+  template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
+    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
+    {
+      c = cj.pmadd(a,b,c);
+    }
+  };
+
+  template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
+    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, T& a, T& b, T& c, T& t)
+    {
+      t = b; t = cj.pmul(a,t); c = padd(c,t);
+    }
+  };
+
+  template<typename CJ, typename A, typename B, typename C, typename T>
+  EIGEN_STRONG_INLINE void gebp_madd(const CJ& cj, A& a, B& b, C& c, T& t)
+  {
+    gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
+  }
+
+  #define MADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
+//   #define MADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
+#endif
+
+/* Vectorization logic
+ *  real*real: unpack rhs to constant packets, ...
+ * 
+ *  cd*cd : unpack rhs to (b_r,b_r), (b_i,b_i), mul to get (a_r b_r,a_i b_r) (a_r b_i,a_i b_i),
+ *          storing each res packet into two packets (2x2),
+ *          at the end combine them: swap the second and addsub them 
+ *  cf*cf : same but with 2x4 blocks
+ *  cplx*real : unpack rhs to constant packets, ...
+ *  real*cplx : load lhs as (a0,a0,a1,a1), and mul as usual
+ */
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits
+{
+public:
+  typedef _LhsScalar LhsScalar;
+  typedef _RhsScalar RhsScalar;
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+
+    // register block size along the N direction (must be either 2 or 4)
+    nr = NumberOfRegisters/4,
+
+    // register block size along the M direction (currently, this one cannot be modified)
+    mr = 2 * LhsPacketSize,
+    
+    WorkSpaceFactor = nr * RhsPacketSize,
+
+    LhsProgress = LhsPacketSize,
+    RhsProgress = RhsPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+  
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, AccPacket& tmp) const
+  {
+    tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = pmadd(c,alpha,r);
+  }
+
+protected:
+//   conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
+//   conj_helper<LhsPacket,RhsPacket,ConjLhs,ConjRhs> pcj;
+};
+
+template<typename RealScalar, bool _ConjLhs>
+class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
+{
+public:
+  typedef std::complex<RealScalar> LhsScalar;
+  typedef RealScalar RhsScalar;
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = false,
+    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    nr = NumberOfRegisters/4,
+    mr = 2 * LhsPacketSize,
+    WorkSpaceFactor = nr*RhsPacketSize,
+
+    LhsProgress = LhsPacketSize,
+    RhsProgress = RhsPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  {
+    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+  {
+    tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+  {
+    c += a * b;
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = cj.pmadd(c,alpha,r);
+  }
+
+protected:
+  conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
+};
+
+template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
+{
+public:
+  typedef std::complex<RealScalar>  Scalar;
+  typedef std::complex<RealScalar>  LhsScalar;
+  typedef std::complex<RealScalar>  RhsScalar;
+  typedef std::complex<RealScalar>  ResScalar;
+  
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<RealScalar>::Vectorizable
+                && packet_traits<Scalar>::Vectorizable,
+    RealPacketSize  = Vectorizable ? packet_traits<RealScalar>::size : 1,
+    ResPacketSize   = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    nr = 2,
+    mr = 2 * ResPacketSize,
+    WorkSpaceFactor = Vectorizable ? 2*nr*RealPacketSize : nr,
+
+    LhsProgress = ResPacketSize,
+    RhsProgress = Vectorizable ? 2*ResPacketSize : 1
+  };
+  
+  typedef typename packet_traits<RealScalar>::type RealPacket;
+  typedef typename packet_traits<Scalar>::type     ScalarPacket;
+  struct DoublePacket
+  {
+    RealPacket first;
+    RealPacket second;
+  };
+
+  typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
+  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type AccPacket;
+  
+  EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
+
+  EIGEN_STRONG_INLINE void initAcc(DoublePacket& p)
+  {
+    p.first   = pset1<RealPacket>(RealScalar(0));
+    p.second  = pset1<RealPacket>(RealScalar(0));
+  }
+
+  /* Unpack the rhs coeff such that each complex coefficient is spread into
+   * two packects containing respectively the real and imaginary coefficient
+   * duplicated as many time as needed: (x+iy) => [x, ..., x] [y, ..., y]
+   */
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const Scalar* rhs, Scalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+    {
+      if(Vectorizable)
+      {
+        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+0],             real(rhs[k]));
+        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+ResPacketSize], imag(rhs[k]));
+      }
+      else
+        b[k] = rhs[k];
+    }
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const { dest = *b; }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacket& dest) const
+  {
+    dest.first  = pload<RealPacket>((const RealScalar*)b);
+    dest.second = pload<RealPacket>((const RealScalar*)(b+ResPacketSize));
+  }
+
+  // nothing special here
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacket& c, RhsPacket& /*tmp*/) const
+  {
+    c.first   = padd(pmul(a,b.first), c.first);
+    c.second  = padd(pmul(a,b.second),c.second);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, ResPacket& c, RhsPacket& /*tmp*/) const
+  {
+    c = cj.pmadd(a,b,c);
+  }
+  
+  EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
+  
+  EIGEN_STRONG_INLINE void acc(const DoublePacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    // assemble c
+    ResPacket tmp;
+    if((!ConjLhs)&&(!ConjRhs))
+    {
+      tmp = pcplxflip(pconj(ResPacket(c.second)));
+      tmp = padd(ResPacket(c.first),tmp);
+    }
+    else if((!ConjLhs)&&(ConjRhs))
+    {
+      tmp = pconj(pcplxflip(ResPacket(c.second)));
+      tmp = padd(ResPacket(c.first),tmp);
+    }
+    else if((ConjLhs)&&(!ConjRhs))
+    {
+      tmp = pcplxflip(ResPacket(c.second));
+      tmp = padd(pconj(ResPacket(c.first)),tmp);
+    }
+    else if((ConjLhs)&&(ConjRhs))
+    {
+      tmp = pcplxflip(ResPacket(c.second));
+      tmp = psub(pconj(ResPacket(c.first)),tmp);
+    }
+    
+    r = pmadd(tmp,alpha,r);
+  }
+
+protected:
+  conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
+};
+
+template<typename RealScalar, bool _ConjRhs>
+class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
+{
+public:
+  typedef std::complex<RealScalar>  Scalar;
+  typedef RealScalar  LhsScalar;
+  typedef Scalar      RhsScalar;
+  typedef Scalar      ResScalar;
+
+  enum {
+    ConjLhs = false,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<RealScalar>::Vectorizable
+                && packet_traits<Scalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    nr = 4,
+    mr = 2*ResPacketSize,
+    WorkSpaceFactor = nr*RhsPacketSize,
+
+    LhsProgress = ResPacketSize,
+    RhsProgress = ResPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploaddup<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  {
+    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+  {
+    tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+  {
+    c += a * b;
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = cj.pmadd(alpha,c,r);
+  }
+
+protected:
+  conj_helper<ResPacket,ResPacket,false,ConjRhs> cj;
+};
+
+/* optimized GEneral packed Block * packed Panel product kernel
+ *
+ * Mixing type logic: C += A * B
+ *  |  A  |  B  | comments
+ *  |real |cplx | no vectorization yet, would require to pack A with duplication
+ *  |cplx |real | easy vectorization
+ */
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel
+{
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
+  typedef typename Traits::ResScalar ResScalar;
+  typedef typename Traits::LhsPacket LhsPacket;
+  typedef typename Traits::RhsPacket RhsPacket;
+  typedef typename Traits::ResPacket ResPacket;
+  typedef typename Traits::AccPacket AccPacket;
+
+  enum {
+    Vectorizable  = Traits::Vectorizable,
+    LhsProgress   = Traits::LhsProgress,
+    RhsProgress   = Traits::RhsProgress,
+    ResPacketSize = Traits::ResPacketSize
+  };
+
+  EIGEN_FLATTEN_ATTRIB
+  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0, RhsScalar* unpackedB = 0)
+  {
+    Traits traits;
+    
+    if(strideA==-1) strideA = depth;
+    if(strideB==-1) strideB = depth;
+    conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+//     conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+    Index packet_cols = (cols/nr) * nr;
+    const Index peeled_mc = (rows/mr)*mr;
+    // FIXME:
+    const Index peeled_mc2 = peeled_mc + (rows-peeled_mc >= LhsProgress ? LhsProgress : 0);
+    const Index peeled_kc = (depth/4)*4;
+
+    if(unpackedB==0)
+      unpackedB = const_cast<RhsScalar*>(blockB - strideB * nr * RhsProgress);
+
+    // loops on each micro vertical panel of rhs (depth x nr)
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      traits.unpackRhs(depth*nr,&blockB[j2*strideB+offsetB*nr],unpackedB); 
+
+      // loops on each largest micro horizontal panel of lhs (mr x depth)
+      // => we select a mr x nr micro block of res which is entirely
+      //    stored into mr/packet_size x nr registers.
+      for(Index i=0; i<peeled_mc; i+=mr)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
+        prefetch(&blA[0]);
+
+        // gets res block as register
+        AccPacket C0, C1, C2, C3, C4, C5, C6, C7;
+                  traits.initAcc(C0);
+                  traits.initAcc(C1);
+        if(nr==4) traits.initAcc(C2);
+        if(nr==4) traits.initAcc(C3);
+                  traits.initAcc(C4);
+                  traits.initAcc(C5);
+        if(nr==4) traits.initAcc(C6);
+        if(nr==4) traits.initAcc(C7);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+        ResScalar* r1 = r0 + resStride;
+        ResScalar* r2 = r1 + resStride;
+        ResScalar* r3 = r2 + resStride;
+
+        prefetch(r0+16);
+        prefetch(r1+16);
+        prefetch(r2+16);
+        prefetch(r3+16);
+
+        // performs "inner" product
+        // TODO let's check wether the folowing peeled loop could not be
+        //      optimized via optimal prefetching from one loop to the other
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<peeled_kc; k+=4)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0;
+            RhsPacket T0;
+            
+EIGEN_ASM_COMMENT("mybegin2");
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[1*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadLhs(&blA[3*LhsProgress], A1);
+            traits.loadRhs(&blB[2*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[4*LhsProgress], A0);
+            traits.loadLhs(&blA[5*LhsProgress], A1);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[5*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[6*LhsProgress], A0);
+            traits.loadLhs(&blA[7*LhsProgress], A1);
+            traits.loadRhs(&blB[6*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[7*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+EIGEN_ASM_COMMENT("myend");
+          }
+          else
+          {
+EIGEN_ASM_COMMENT("mybegin4");
+            LhsPacket A0, A1;
+            RhsPacket B0, B1, B2, B3;
+            RhsPacket T0;
+            
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[6*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[3*LhsProgress], A1);
+            traits.loadRhs(&blB[7*RhsProgress], B3);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[8*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[9*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[10*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[4*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[5*LhsProgress], A1);
+            traits.loadRhs(&blB[11*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[12*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[13*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[14*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[6*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[7*LhsProgress], A1);
+            traits.loadRhs(&blB[15*RhsProgress], B3);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.madd(A1,B3,C7,B3);
+          }
+
+          blB += 4*nr*RhsProgress;
+          blA += 4*mr;
+        }
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0;
+            RhsPacket T0;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[1*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+          }
+          else
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0, B1, B2, B3;
+            RhsPacket T0;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.madd(A1,B3,C7,B3);
+          }
+
+          blB += nr*RhsProgress;
+          blA += mr;
+        }
+
+        if(nr==4)
+        {
+          ResPacket R0, R1, R2, R3, R4, R5, R6;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = ploadu<ResPacket>(r0);
+          R1 = ploadu<ResPacket>(r1);
+          R2 = ploadu<ResPacket>(r2);
+          R3 = ploadu<ResPacket>(r3);
+          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          R5 = ploadu<ResPacket>(r1 + ResPacketSize);
+          R6 = ploadu<ResPacket>(r2 + ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          pstoreu(r0, R0);
+          R0 = ploadu<ResPacket>(r3 + ResPacketSize);
+
+          traits.acc(C1, alphav, R1);
+          traits.acc(C2, alphav, R2);
+          traits.acc(C3, alphav, R3);
+          traits.acc(C4, alphav, R4);
+          traits.acc(C5, alphav, R5);
+          traits.acc(C6, alphav, R6);
+          traits.acc(C7, alphav, R0);
+          
+          pstoreu(r1, R1);
+          pstoreu(r2, R2);
+          pstoreu(r3, R3);
+          pstoreu(r0 + ResPacketSize, R4);
+          pstoreu(r1 + ResPacketSize, R5);
+          pstoreu(r2 + ResPacketSize, R6);
+          pstoreu(r3 + ResPacketSize, R0);
+        }
+        else
+        {
+          ResPacket R0, R1, R4;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = ploadu<ResPacket>(r0);
+          R1 = ploadu<ResPacket>(r1);
+          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          pstoreu(r0, R0);
+          R0 = ploadu<ResPacket>(r1 + ResPacketSize);
+          traits.acc(C1, alphav, R1);
+          traits.acc(C4, alphav, R4);
+          traits.acc(C5, alphav, R0);
+          pstoreu(r1, R1);
+          pstoreu(r0 + ResPacketSize, R4);
+          pstoreu(r1 + ResPacketSize, R0);
+        }
+        
+      }
+      
+      if(rows-peeled_mc>=LhsProgress)
+      {
+        Index i = peeled_mc;
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
+        prefetch(&blA[0]);
+
+        // gets res block as register
+        AccPacket C0, C1, C2, C3;
+                  traits.initAcc(C0);
+                  traits.initAcc(C1);
+        if(nr==4) traits.initAcc(C2);
+        if(nr==4) traits.initAcc(C3);
+
+        // performs "inner" product
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<peeled_kc; k+=4)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[2*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[1*LhsProgress], A0);
+            traits.loadRhs(&blB[3*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[6*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[3*LhsProgress], A0);
+            traits.loadRhs(&blB[7*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1, B2, B3;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[6*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+            traits.loadLhs(&blA[1*LhsProgress], A0);
+            traits.loadRhs(&blB[7*RhsProgress], B3);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[8*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[9*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[10*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadRhs(&blB[11*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[12*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[13*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[14*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+
+            traits.loadLhs(&blA[3*LhsProgress], A0);
+            traits.loadRhs(&blB[15*RhsProgress], B3);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.madd(A0,B3,C3,B3);
+          }
+
+          blB += nr*4*RhsProgress;
+          blA += 4*LhsProgress;
+        }
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1, B2, B3;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.madd(A0,B3,C3,B3);
+          }
+
+          blB += nr*RhsProgress;
+          blA += LhsProgress;
+        }
+
+        ResPacket R0, R1, R2, R3;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+        ResScalar* r1 = r0 + resStride;
+        ResScalar* r2 = r1 + resStride;
+        ResScalar* r3 = r2 + resStride;
+
+                  R0 = ploadu<ResPacket>(r0);
+                  R1 = ploadu<ResPacket>(r1);
+        if(nr==4) R2 = ploadu<ResPacket>(r2);
+        if(nr==4) R3 = ploadu<ResPacket>(r3);
+
+                  traits.acc(C0, alphav, R0);
+                  traits.acc(C1, alphav, R1);
+        if(nr==4) traits.acc(C2, alphav, R2);
+        if(nr==4) traits.acc(C3, alphav, R3);
+
+                  pstoreu(r0, R0);
+                  pstoreu(r1, R1);
+        if(nr==4) pstoreu(r2, R2);
+        if(nr==4) pstoreu(r3, R3);
+      }
+      for(Index i=peeled_mc2; i<rows; i++)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA];
+        prefetch(&blA[0]);
+
+        // gets a 1 x nr res block as registers
+        ResScalar C0(0), C1(0), C2(0), C3(0);
+        // TODO directly use blockB ???
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+        for(Index k=0; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsScalar A0;
+            RhsScalar B0, B1;
+
+            A0 = blA[k];
+            B0 = blB[0];
+            B1 = blB[1];
+            MADD(cj,A0,B0,C0,B0);
+            MADD(cj,A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsScalar A0;
+            RhsScalar B0, B1, B2, B3;
+
+            A0 = blA[k];
+            B0 = blB[0];
+            B1 = blB[1];
+            B2 = blB[2];
+            B3 = blB[3];
+
+            MADD(cj,A0,B0,C0,B0);
+            MADD(cj,A0,B1,C1,B1);
+            MADD(cj,A0,B2,C2,B2);
+            MADD(cj,A0,B3,C3,B3);
+          }
+
+          blB += nr;
+        }
+                  res[(j2+0)*resStride + i] += alpha*C0;
+                  res[(j2+1)*resStride + i] += alpha*C1;
+        if(nr==4) res[(j2+2)*resStride + i] += alpha*C2;
+        if(nr==4) res[(j2+3)*resStride + i] += alpha*C3;
+      }
+    }
+    // process remaining rhs/res columns one at a time
+    // => do the same but with nr==1
+    for(Index j2=packet_cols; j2<cols; j2++)
+    {
+      // unpack B
+      traits.unpackRhs(depth, &blockB[j2*strideB+offsetB], unpackedB);
+
+      for(Index i=0; i<peeled_mc; i+=mr)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
+        prefetch(&blA[0]);
+
+        // TODO move the res loads to the stores
+
+        // get res block as registers
+        AccPacket C0, C4;
+        traits.initAcc(C0);
+        traits.initAcc(C4);
+
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<depth; k++)
+        {
+          LhsPacket A0, A1;
+          RhsPacket B0;
+          RhsPacket T0;
+
+          traits.loadLhs(&blA[0*LhsProgress], A0);
+          traits.loadLhs(&blA[1*LhsProgress], A1);
+          traits.loadRhs(&blB[0*RhsProgress], B0);
+          traits.madd(A0,B0,C0,T0);
+          traits.madd(A1,B0,C4,B0);
+
+          blB += RhsProgress;
+          blA += 2*LhsProgress;
+        }
+        ResPacket R0, R4;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+
+        R0 = ploadu<ResPacket>(r0);
+        R4 = ploadu<ResPacket>(r0+ResPacketSize);
+
+        traits.acc(C0, alphav, R0);
+        traits.acc(C4, alphav, R4);
+
+        pstoreu(r0,               R0);
+        pstoreu(r0+ResPacketSize, R4);
+      }
+      if(rows-peeled_mc>=LhsProgress)
+      {
+        Index i = peeled_mc;
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
+        prefetch(&blA[0]);
+
+        AccPacket C0;
+        traits.initAcc(C0);
+
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<depth; k++)
+        {
+          LhsPacket A0;
+          RhsPacket B0;
+          traits.loadLhs(blA, A0);
+          traits.loadRhs(blB, B0);
+          traits.madd(A0, B0, C0, B0);
+          blB += RhsProgress;
+          blA += LhsProgress;
+        }
+
+        ResPacket alphav = pset1<ResPacket>(alpha);
+        ResPacket R0 = ploadu<ResPacket>(&res[(j2+0)*resStride + i]);
+        traits.acc(C0, alphav, R0);
+        pstoreu(&res[(j2+0)*resStride + i], R0);
+      }
+      for(Index i=peeled_mc2; i<rows; i++)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA];
+        prefetch(&blA[0]);
+
+        // gets a 1 x 1 res block as registers
+        ResScalar C0(0);
+        // FIXME directly use blockB ??
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+        for(Index k=0; k<depth; k++)
+        {
+          LhsScalar A0 = blA[k];
+          RhsScalar B0 = blB[k];
+          MADD(cj, A0, B0, C0, B0);
+        }
+        res[(j2+0)*resStride + i] += alpha*C0;
+      }
+    }
+  }
+};
+
+#undef CJMADD
+
+// pack a block of the lhs
+// The travesal is as follow (mr==4):
+//   0  4  8 12 ...
+//   1  5  9 13 ...
+//   2  6 10 14 ...
+//   3  7 11 15 ...
+//
+//  16 20 24 28 ...
+//  17 21 25 29 ...
+//  18 22 26 30 ...
+//  19 23 27 31 ...
+//
+//  32 33 34 35 ...
+//  36 36 38 39 ...
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs
+{
+  void operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows,
+                  Index stride=0, Index offset=0)
+  {
+//     enum { PacketSize = packet_traits<Scalar>::size };
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    const_blas_data_mapper<Scalar, Index, StorageOrder> lhs(_lhs,lhsStride);
+    Index count = 0;
+    Index peeled_mc = (rows/Pack1)*Pack1;
+    for(Index i=0; i<peeled_mc; i+=Pack1)
+    {
+      if(PanelMode) count += Pack1 * offset;
+      for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack1; w++)
+          blockA[count++] = cj(lhs(i+w, k));
+      if(PanelMode) count += Pack1 * (stride-offset-depth);
+    }
+    if(rows-peeled_mc>=Pack2)
+    {
+      if(PanelMode) count += Pack2*offset;
+      for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack2; w++)
+          blockA[count++] = cj(lhs(peeled_mc+w, k));
+      if(PanelMode) count += Pack2 * (stride-offset-depth);
+      peeled_mc += Pack2;
+    }
+    for(Index i=peeled_mc; i<rows; i++)
+    {
+      if(PanelMode) count += offset;
+      for(Index k=0; k<depth; k++)
+        blockA[count++] = cj(lhs(i, k));
+      if(PanelMode) count += (stride-offset-depth);
+    }
+  }
+};
+
+// copy a complete panel of the rhs
+// this version is optimized for column major matrices
+// The traversal order is as follow: (nr==4):
+//  0  1  2  3   12 13 14 15   24 27
+//  4  5  6  7   16 17 18 19   25 28
+//  8  9 10 11   20 21 22 23   26 29
+//  .  .  .  .    .  .  .  .    .  .
+template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols,
+                  Index stride=0, Index offset=0)
+  {
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    Index packet_cols = (cols/nr) * nr;
+    Index count = 0;
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      // skip what we have before
+      if(PanelMode) count += nr * offset;
+      const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+      const Scalar* b1 = &rhs[(j2+1)*rhsStride];
+      const Scalar* b2 = &rhs[(j2+2)*rhsStride];
+      const Scalar* b3 = &rhs[(j2+3)*rhsStride];
+      for(Index k=0; k<depth; k++)
+      {
+                  blockB[count+0] = cj(b0[k]);
+                  blockB[count+1] = cj(b1[k]);
+        if(nr==4) blockB[count+2] = cj(b2[k]);
+        if(nr==4) blockB[count+3] = cj(b3[k]);
+        count += nr;
+      }
+      // skip what we have after
+      if(PanelMode) count += nr * (stride-offset-depth);
+    }
+
+    // copy the remaining columns one at a time (nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      if(PanelMode) count += offset;
+      const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+      for(Index k=0; k<depth; k++)
+      {
+        blockB[count] = cj(b0[k]);
+        count += 1;
+      }
+      if(PanelMode) count += (stride-offset-depth);
+    }
+  }
+};
+
+// this version is optimized for row major matrices
+template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
+{
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols,
+                  Index stride=0, Index offset=0)
+  {
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    Index packet_cols = (cols/nr) * nr;
+    Index count = 0;
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      // skip what we have before
+      if(PanelMode) count += nr * offset;
+      for(Index k=0; k<depth; k++)
+      {
+        const Scalar* b0 = &rhs[k*rhsStride + j2];
+                  blockB[count+0] = cj(b0[0]);
+                  blockB[count+1] = cj(b0[1]);
+        if(nr==4) blockB[count+2] = cj(b0[2]);
+        if(nr==4) blockB[count+3] = cj(b0[3]);
+        count += nr;
+      }
+      // skip what we have after
+      if(PanelMode) count += nr * (stride-offset-depth);
+    }
+    // copy the remaining columns one at a time (nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      if(PanelMode) count += offset;
+      const Scalar* b0 = &rhs[j2];
+      for(Index k=0; k<depth; k++)
+      {
+        blockB[count] = cj(b0[k*rhsStride]);
+        count += 1;
+      }
+      if(PanelMode) count += stride-offset-depth;
+    }
+  }
+};
+
+} // end namespace internal
+
+/** \returns the currently set level 1 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+  * \sa setCpuCacheSize */
+inline std::ptrdiff_t l1CacheSize()
+{
+  std::ptrdiff_t l1, l2;
+  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  return l1;
+}
+
+/** \returns the currently set level 2 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+  * \sa setCpuCacheSize */
+inline std::ptrdiff_t l2CacheSize()
+{
+  std::ptrdiff_t l1, l2;
+  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  return l2;
+}
+
+/** Set the cpu L1 and L2 cache sizes (in bytes).
+  * These values are use to adjust the size of the blocks
+  * for the algorithms working per blocks.
+  *
+  * \sa computeProductBlockingSizes */
+inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2)
+{
+  internal::manage_caching_sizes(SetAction, &l1, &l2);
+}
+
+#endif // EIGEN_GENERAL_BLOCK_PANEL_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
new file mode 100644
index 00000000000..ae94a27953b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_H
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar> class level3_blocking;
+
+/* Specialization for a row-major destination matrix => simple transposition of the product */
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const LhsScalar* lhs, Index lhsStride,
+    const RhsScalar* rhs, Index rhsStride,
+    ResScalar* res, Index resStride,
+    ResScalar alpha,
+    level3_blocking<RhsScalar,LhsScalar>& blocking,
+    GemmParallelInfo<Index>* info = 0)
+  {
+    // transpose the product such that the result is column major
+    general_matrix_matrix_product<Index,
+      RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+      LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+      ColMajor>
+    ::run(cols,rows,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking,info);
+  }
+};
+
+/*  Specialization for a col-major destination matrix
+ *    => Blocking algorithm following Goto's paper */
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+static void run(Index rows, Index cols, Index depth,
+  const LhsScalar* _lhs, Index lhsStride,
+  const RhsScalar* _rhs, Index rhsStride,
+  ResScalar* res, Index resStride,
+  ResScalar alpha,
+  level3_blocking<LhsScalar,RhsScalar>& blocking,
+  GemmParallelInfo<Index>* info = 0)
+{
+  const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+  const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+  Index kc = blocking.kc();                 // cache block size along the K direction
+  Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+  //Index nc = blocking.nc(); // cache block size along the N direction
+
+  gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+  gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
+  gebp_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+
+#ifdef EIGEN_HAS_OPENMP
+  if(info)
+  {
+    // this is the parallel version!
+    Index tid = omp_get_thread_num();
+    Index threads = omp_get_num_threads();
+    
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, 0);
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, w, sizeW, 0);
+    
+    RhsScalar* blockB = blocking.blockB();
+    eigen_internal_assert(blockB!=0);
+
+    // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
+    for(Index k=0; k<depth; k+=kc)
+    {
+      const Index actual_kc = (std::min)(k+kc,depth)-k; // => rows of B', and cols of the A'
+
+      // In order to reduce the chance that a thread has to wait for the other,
+      // let's start by packing A'.
+      pack_lhs(blockA, &lhs(0,k), lhsStride, actual_kc, mc);
+
+      // Pack B_k to B' in a parallel fashion:
+      // each thread packs the sub block B_k,j to B'_j where j is the thread id.
+
+      // However, before copying to B'_j, we have to make sure that no other thread is still using it,
+      // i.e., we test that info[tid].users equals 0.
+      // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
+      while(info[tid].users!=0) {}
+      info[tid].users += threads;
+
+      pack_rhs(blockB+info[tid].rhs_start*actual_kc, &rhs(k,info[tid].rhs_start), rhsStride, actual_kc, info[tid].rhs_length);
+
+      // Notify the other threads that the part B'_j is ready to go.
+      info[tid].sync = k;
+
+      // Computes C_i += A' * B' per B'_j
+      for(Index shift=0; shift<threads; ++shift)
+      {
+        Index j = (tid+shift)%threads;
+
+        // At this point we have to make sure that B'_j has been updated by the thread j,
+        // we use testAndSetOrdered to mimic a volatile access.
+        // However, no need to wait for the B' part which has been updated by the current thread!
+        if(shift>0)
+          while(info[j].sync!=k) {}
+
+        gebp(res+info[j].rhs_start*resStride, resStride, blockA, blockB+info[j].rhs_start*actual_kc, mc, actual_kc, info[j].rhs_length, alpha, -1,-1,0,0, w);
+      }
+
+      // Then keep going as usual with the remaining A'
+      for(Index i=mc; i<rows; i+=mc)
+      {
+        const Index actual_mc = (std::min)(i+mc,rows)-i;
+
+        // pack A_i,k to A'
+        pack_lhs(blockA, &lhs(i,k), lhsStride, actual_kc, actual_mc);
+
+        // C_i += A' * B'
+        gebp(res+i, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1,-1,0,0, w);
+      }
+
+      // Release all the sub blocks B'_j of B' for the current thread,
+      // i.e., we simply decrement the number of users by 1
+      for(Index j=0; j<threads; ++j)
+        #pragma omp atomic
+        --(info[j].users);
+    }
+  }
+  else
+#endif // EIGEN_HAS_OPENMP
+  {
+    EIGEN_UNUSED_VARIABLE(info);
+
+    // this is the sequential version!
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+
+    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockW, sizeW, blocking.blockW());
+
+    // For each horizontal panel of the rhs, and corresponding panel of the lhs...
+    // (==GEMM_VAR1)
+    for(Index k2=0; k2<depth; k2+=kc)
+    {
+      const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+
+      // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
+      // => Pack rhs's panel into a sequential chunk of memory (L2 caching)
+      // Note that this panel will be read as many times as the number of blocks in the lhs's
+      // vertical panel which is, in practice, a very low number.
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+
+
+      // For each mc x kc block of the lhs's vertical panel...
+      // (==GEPP_VAR1)
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(i2+mc,rows)-i2;
+
+        // We pack the lhs's block into a sequential chunk of memory (L1 caching)
+        // Note that this block will be read a very high number of times, which is equal to the number of
+        // micro vertical panel of the large rhs's panel (e.g., cols/4 times).
+        pack_lhs(blockA, &lhs(i2,k2), lhsStride, actual_kc, actual_mc);
+
+        // Everything is packed, we can now call the block * panel kernel:
+        gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+
+      }
+    }
+  }
+}
+
+};
+
+/*********************************************************************************
+*  Specialization of GeneralProduct<> for "large" GEMM, i.e.,
+*  implementation of the high level wrapper to general_matrix_matrix_product
+**********************************************************************************/
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,GemmProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs> >
+{};
+
+template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
+struct gemm_functor
+{
+  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, Scalar actualAlpha,
+                  BlockingType& blocking)
+    : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
+  {}
+
+  void initParallelSession() const
+  {
+    m_blocking.allocateB();
+  }
+
+  void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
+  {
+    if(cols==-1)
+      cols = m_rhs.cols();
+
+    Gemm::run(rows, cols, m_lhs.cols(),
+              /*(const Scalar*)*/&m_lhs.coeffRef(row,0), m_lhs.outerStride(),
+              /*(const Scalar*)*/&m_rhs.coeffRef(0,col), m_rhs.outerStride(),
+              (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
+              m_actualAlpha, m_blocking, info);
+  }
+
+  protected:
+    const Lhs& m_lhs;
+    const Rhs& m_rhs;
+    Dest& m_dest;
+    Scalar m_actualAlpha;
+    BlockingType& m_blocking;
+};
+
+template<int StorageOrder, typename LhsScalar, typename RhsScalar, int MaxRows, int MaxCols, int MaxDepth,
+bool FiniteAtCompileTime = MaxRows!=Dynamic && MaxCols!=Dynamic && MaxDepth != Dynamic> class gemm_blocking_space;
+
+template<typename _LhsScalar, typename _RhsScalar>
+class level3_blocking
+{
+    typedef _LhsScalar LhsScalar;
+    typedef _RhsScalar RhsScalar;
+
+  protected:
+    LhsScalar* m_blockA;
+    RhsScalar* m_blockB;
+    RhsScalar* m_blockW;
+
+    DenseIndex m_mc;
+    DenseIndex m_nc;
+    DenseIndex m_kc;
+
+  public:
+
+    level3_blocking()
+      : m_blockA(0), m_blockB(0), m_blockW(0), m_mc(0), m_nc(0), m_kc(0)
+    {}
+
+    inline DenseIndex mc() const { return m_mc; }
+    inline DenseIndex nc() const { return m_nc; }
+    inline DenseIndex kc() const { return m_kc; }
+
+    inline LhsScalar* blockA() { return m_blockA; }
+    inline RhsScalar* blockB() { return m_blockB; }
+    inline RhsScalar* blockW() { return m_blockW; }
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, true>
+  : public level3_blocking<
+      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+    enum {
+      Transpose = StorageOrder==RowMajor,
+      ActualRows = Transpose ? MaxCols : MaxRows,
+      ActualCols = Transpose ? MaxRows : MaxCols
+    };
+    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+    enum {
+      SizeA = ActualRows * MaxDepth,
+      SizeB = ActualCols * MaxDepth,
+      SizeW = MaxDepth * Traits::WorkSpaceFactor
+    };
+
+    EIGEN_ALIGN16 LhsScalar m_staticA[SizeA];
+    EIGEN_ALIGN16 RhsScalar m_staticB[SizeB];
+    EIGEN_ALIGN16 RhsScalar m_staticW[SizeW];
+
+  public:
+
+    gemm_blocking_space(DenseIndex /*rows*/, DenseIndex /*cols*/, DenseIndex /*depth*/)
+    {
+      this->m_mc = ActualRows;
+      this->m_nc = ActualCols;
+      this->m_kc = MaxDepth;
+      this->m_blockA = m_staticA;
+      this->m_blockB = m_staticB;
+      this->m_blockW = m_staticW;
+    }
+
+    inline void allocateA() {}
+    inline void allocateB() {}
+    inline void allocateW() {}
+    inline void allocateAll() {}
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, false>
+  : public level3_blocking<
+      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+    enum {
+      Transpose = StorageOrder==RowMajor
+    };
+    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+    DenseIndex m_sizeA;
+    DenseIndex m_sizeB;
+    DenseIndex m_sizeW;
+
+  public:
+
+    gemm_blocking_space(DenseIndex rows, DenseIndex cols, DenseIndex depth)
+    {
+      this->m_mc = Transpose ? cols : rows;
+      this->m_nc = Transpose ? rows : cols;
+      this->m_kc = depth;
+
+      computeProductBlockingSizes<LhsScalar,RhsScalar>(this->m_kc, this->m_mc, this->m_nc);
+      m_sizeA = this->m_mc * this->m_kc;
+      m_sizeB = this->m_kc * this->m_nc;
+      m_sizeW = this->m_kc*Traits::WorkSpaceFactor;
+    }
+
+    void allocateA()
+    {
+      if(this->m_blockA==0)
+        this->m_blockA = aligned_new<LhsScalar>(m_sizeA);
+    }
+
+    void allocateB()
+    {
+      if(this->m_blockB==0)
+        this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
+    }
+
+    void allocateW()
+    {
+      if(this->m_blockW==0)
+        this->m_blockW = aligned_new<RhsScalar>(m_sizeW);
+    }
+
+    void allocateAll()
+    {
+      allocateA();
+      allocateB();
+      allocateW();
+    }
+
+    ~gemm_blocking_space()
+    {
+      aligned_delete(this->m_blockA, m_sizeA);
+      aligned_delete(this->m_blockB, m_sizeB);
+      aligned_delete(this->m_blockW, m_sizeW);
+    }
+};
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, GemmProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs>
+{
+    enum {
+      MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
+    };
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+    
+    typedef typename  Lhs::Scalar LhsScalar;
+    typedef typename  Rhs::Scalar RhsScalar;
+    typedef           Scalar      ResScalar;
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+      typedef internal::scalar_product_op<LhsScalar,RhsScalar> BinOp;
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinOp,LhsScalar,RhsScalar);
+    }
+
+    template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+    {
+      eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+
+      const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+      const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+      Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                                 * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+      typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
+              Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+
+      typedef internal::gemm_functor<
+        Scalar, Index,
+        internal::general_matrix_matrix_product<
+          Index,
+          LhsScalar, (_ActualLhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
+          RhsScalar, (_ActualRhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
+          (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+        _ActualLhsType, _ActualRhsType, Dest, BlockingType> GemmFunctor;
+
+      BlockingType blocking(dst.rows(), dst.cols(), lhs.cols());
+
+      internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>(GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), this->rows(), this->cols(), Dest::Flags&RowMajorBit);
+    }
+};
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
new file mode 100644
index 00000000000..5043b64fe2e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -0,0 +1,225 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+
+namespace internal {
+
+/**********************************************************************
+* This file implements a general A * B product while
+* evaluating only one triangular part of the product.
+* This is more general version of self adjoint product (C += A A^T)
+* as the level 3 SYRK Blas routine.
+**********************************************************************/
+
+// forward declarations (defined at the end of this file)
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel;
+  
+/* Optimized matrix-matrix product evaluating only one triangular half */
+template <typename Index,
+          typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+                              int ResStorageOrder, int  UpLo>
+struct general_matrix_matrix_triangular_product;
+
+// as usual if the result is row major => we transpose the product
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo>
+{  
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
+                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride, ResScalar alpha)
+  {
+    general_matrix_matrix_triangular_product<Index,
+        RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+        LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+        ColMajor, UpLo==Lower?Upper:Lower>
+      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha);
+  }
+};
+
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
+                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* res, Index resStride, ResScalar alpha)
+  {
+    const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = size;  // cache block size along the N direction
+    computeProductBlockingSizes<LhsScalar,RhsScalar>(kc, mc, nc);
+    // !!! mc must be a multiple of nr:
+    if(mc > Traits::nr)
+      mc = (mc/Traits::nr)*Traits::nr;
+
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*size;
+    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, allocatedBlockB, sizeB, 0);
+    RhsScalar* blockB = allocatedBlockB + sizeW;
+    
+    gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
+    gebp_kernel <LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+    tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
+
+    for(Index k2=0; k2<depth; k2+=kc)
+    {
+      const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+
+      // note that the actual rhs is the transpose/adjoint of mat
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, size);
+
+      for(Index i2=0; i2<size; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(i2+mc,size)-i2;
+
+        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        // the selected actual_mc * size panel of res is split into three different part:
+        //  1 - before the diagonal => processed with gebp or skipped
+        //  2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
+        //  3 - after the diagonal => processed with gebp or skipped
+        if (UpLo==Lower)
+          gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, (std::min)(size,i2), alpha,
+               -1, -1, 0, 0, allocatedBlockB);
+
+        sybb(res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha, allocatedBlockB);
+
+        if (UpLo==Upper)
+        {
+          Index j2 = i2+actual_mc;
+          gebp(res+resStride*j2+i2, resStride, blockA, blockB+actual_kc*j2, actual_mc, actual_kc, (std::max)(Index(0), size-j2), alpha,
+               -1, -1, 0, 0, allocatedBlockB);
+        }
+      }
+    }
+  }
+};
+
+// Optimized packed Block * packed Block product kernel evaluating only one given triangular part
+// This kernel is built on top of the gebp kernel:
+// - the current destination block is processed per panel of actual_mc x BlockSize
+//   where BlockSize is set to the minimal value allowing gebp to be as fast as possible
+// - then, as usual, each panel is split into three parts along the diagonal,
+//   the sub blocks above and below the diagonal are processed as usual,
+//   while the triangular block overlapping the diagonal is evaluated into a
+//   small temporary buffer which is then accumulated into the result using a
+//   triangular traversal.
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel
+{
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
+  typedef typename Traits::ResScalar ResScalar;
+  
+  enum {
+    BlockSize  = EIGEN_PLAIN_ENUM_MAX(mr,nr)
+  };
+  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, ResScalar alpha, RhsScalar* workspace)
+  {
+    gebp_kernel<LhsScalar, RhsScalar, Index, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+    Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer;
+
+    // let's process the block per panel of actual_mc x BlockSize,
+    // again, each is split into three parts, etc.
+    for (Index j=0; j<size; j+=BlockSize)
+    {
+      Index actualBlockSize = std::min<Index>(BlockSize,size - j);
+      const RhsScalar* actual_b = blockB+j*depth;
+
+      if(UpLo==Upper)
+        gebp_kernel(res+j*resStride, resStride, blockA, actual_b, j, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+
+      // selfadjoint micro block
+      {
+        Index i = j;
+        buffer.setZero();
+        // 1 - apply the kernel on the temporary buffer
+        gebp_kernel(buffer.data(), BlockSize, blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+        // 2 - triangular accumulation
+        for(Index j1=0; j1<actualBlockSize; ++j1)
+        {
+          ResScalar* r = res + (j+j1)*resStride + i;
+          for(Index i1=UpLo==Lower ? j1 : 0;
+              UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
+            r[i1] += buffer(i1,j1);
+        }
+      }
+
+      if(UpLo==Lower)
+      {
+        Index i = j+actualBlockSize;
+        gebp_kernel(res+j*resStride+i, resStride, blockA+depth*i, actual_b, size-i, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+// high level API
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename ProductDerived, typename _Lhs, typename _Rhs>
+TriangularView<MatrixType,UpLo>& TriangularView<MatrixType,UpLo>::assignProduct(const ProductBase<ProductDerived, _Lhs,_Rhs>& prod, const Scalar& alpha)
+{
+  typedef typename internal::remove_all<typename ProductDerived::LhsNested>::type Lhs;
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
+  typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
+  const ActualLhs actualLhs = LhsBlasTraits::extract(prod.lhs());
+  
+  typedef typename internal::remove_all<typename ProductDerived::RhsNested>::type Rhs;
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
+  typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
+  const ActualRhs actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+  typename ProductDerived::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
+
+  internal::general_matrix_matrix_triangular_product<Index,
+    typename Lhs::Scalar, _ActualLhs::Flags&RowMajorBit ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+    typename Rhs::Scalar, _ActualRhs::Flags&RowMajorBit ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+    MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
+    ::run(m_matrix.cols(), actualLhs.cols(),
+          &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &actualRhs.coeffRef(0,0), actualRhs.outerStride(),
+          const_cast<Scalar*>(m_matrix.data()), m_matrix.outerStride(), actualAlpha);
+  
+  return *this;
+}
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixVector.h b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
new file mode 100644
index 00000000000..e0e2cbf8f62
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -0,0 +1,559 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
+#define EIGEN_GENERAL_MATRIX_VECTOR_H
+
+namespace internal {
+
+/* Optimized col-major matrix * vector product:
+ * This algorithm processes 4 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic: C += alpha * A * B
+ *  |  A  |  B  |alpha| comments
+ *  |real |cplx |cplx | no vectorization
+ *  |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
+ *  |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
+ *  |cplx |real |real | optimal case, vectorization possible via real-cplx mul
+ */
+template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+EIGEN_DONT_INLINE static void run(
+  Index rows, Index cols,
+  const LhsScalar* lhs, Index lhsStride,
+  const RhsScalar* rhs, Index rhsIncr,
+  ResScalar* res, Index
+  #ifdef EIGEN_INTERNAL_DEBUGGING
+    resIncr
+  #endif
+  , RhsScalar alpha)
+{
+  eigen_internal_assert(resIncr==1);
+  #ifdef _EIGEN_ACCUMULATE_PACKETS
+  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+  #endif
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
+    pstore(&res[j], \
+      padd(pload<ResPacket>(&res[j]), \
+        padd( \
+          padd(pcj.pmul(EIGEN_CAT(ploa , A0)<LhsPacket>(&lhs0[j]),    ptmp0), \
+                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs1[j]),   ptmp1)), \
+          padd(pcj.pmul(EIGEN_CAT(ploa , A2)<LhsPacket>(&lhs2[j]),    ptmp2), \
+                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs3[j]),   ptmp3)) )))
+
+  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+  if(ConjugateRhs)
+    alpha = conj(alpha);
+
+  enum { AllAligned = 0, EvenAligned, FirstAligned, NoneAligned };
+  const Index columnsAtOnce = 4;
+  const Index peels = 2;
+  const Index LhsPacketAlignedMask = LhsPacketSize-1;
+  const Index ResPacketAlignedMask = ResPacketSize-1;
+  const Index PeelAlignedMask = ResPacketSize*peels-1;
+  const Index size = rows;
+  
+  // How many coeffs of the result do we have to skip to be aligned.
+  // Here we assume data are at least aligned on the base scalar type.
+  Index alignedStart = first_aligned(res,size);
+  Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
+  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+
+  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+  Index alignmentPattern = alignmentStep==0 ? AllAligned
+                       : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                       : FirstAligned;
+
+  // we cannot assume the first element is aligned because of sub-matrices
+  const Index lhsAlignmentOffset = first_aligned(lhs,size);
+
+  // find how many columns do we have to skip to be aligned with the result (if possible)
+  Index skipColumns = 0;
+  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+  if( (size_t(lhs)%sizeof(LhsScalar)) || (size_t(res)%sizeof(ResScalar)) )
+  {
+    alignedSize = 0;
+    alignedStart = 0;
+  }
+  else if (LhsPacketSize>1)
+  {
+    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
+
+    while (skipColumns<LhsPacketSize &&
+          alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
+      ++skipColumns;
+    if (skipColumns==LhsPacketSize)
+    {
+      // nothing can be aligned, no need to skip any column
+      alignmentPattern = NoneAligned;
+      skipColumns = 0;
+    }
+    else
+    {
+      skipColumns = (std::min)(skipColumns,cols);
+      // note that the skiped columns are processed later.
+    }
+
+    eigen_internal_assert(  (alignmentPattern==NoneAligned)
+                      || (skipColumns + columnsAtOnce >= cols)
+                      || LhsPacketSize > size
+                      || (size_t(lhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);
+  }
+  else if(Vectorizable)
+  {
+    alignedStart = 0;
+    alignedSize = size;
+    alignmentPattern = AllAligned;
+  }
+
+  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
+  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+
+  Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
+  for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
+  {
+    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[i*rhsIncr]),
+              ptmp1 = pset1<RhsPacket>(alpha*rhs[(i+offset1)*rhsIncr]),
+              ptmp2 = pset1<RhsPacket>(alpha*rhs[(i+2)*rhsIncr]),
+              ptmp3 = pset1<RhsPacket>(alpha*rhs[(i+offset3)*rhsIncr]);
+
+    // this helps a lot generating better binary code
+    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
+                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+
+    if (Vectorizable)
+    {
+      /* explicit vectorization */
+      // process initial unaligned coeffs
+      for (Index j=0; j<alignedStart; ++j)
+      {
+        res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
+        res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
+        res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
+        res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+      }
+
+      if (alignedSize>alignedStart)
+      {
+        switch(alignmentPattern)
+        {
+          case AllAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+            break;
+          case EvenAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+            break;
+          case FirstAligned:
+            if(peels>1)
+            {
+              LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
+              ResPacket T0, T1;
+
+              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
+              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
+              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+
+              for (Index j = alignedStart; j<peeledSize; j+=peels*ResPacketSize)
+              {
+                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
+                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
+                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+
+                A00 = pload<LhsPacket>(&lhs0[j]);
+                A10 = pload<LhsPacket>(&lhs0[j+LhsPacketSize]);
+                T0  = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
+                T1  = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
+
+                T0  = pcj.pmadd(A01, ptmp1, T0);
+                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                T0  = pcj.pmadd(A02, ptmp2, T0);
+                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                T0  = pcj.pmadd(A03, ptmp3, T0);
+                pstore(&res[j],T0);
+                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                T1  = pcj.pmadd(A11, ptmp1, T1);
+                T1  = pcj.pmadd(A12, ptmp2, T1);
+                T1  = pcj.pmadd(A13, ptmp3, T1);
+                pstore(&res[j+ResPacketSize],T1);
+              }
+            }
+            for (Index j = peeledSize; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+            break;
+          default:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+            break;
+        }
+      }
+    } // end explicit vectorization
+
+    /* process remaining coeffs (or all if there is no explicit vectorization) */
+    for (Index j=alignedSize; j<size; ++j)
+    {
+      res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
+      res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
+      res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
+      res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+    }
+  }
+
+  // process remaining first and last columns (at most columnsAtOnce-1)
+  Index end = cols;
+  Index start = columnBound;
+  do
+  {
+    for (Index k=start; k<end; ++k)
+    {
+      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[k*rhsIncr]);
+      const LhsScalar* lhs0 = lhs + k*lhsStride;
+
+      if (Vectorizable)
+      {
+        /* explicit vectorization */
+        // process first unaligned result's coeffs
+        for (Index j=0; j<alignedStart; ++j)
+          res[j] += cj.pmul(lhs0[j], pfirst(ptmp0));
+        // process aligned result's coeffs
+        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+        else
+          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+      }
+
+      // process remaining scalars (or all if no explicit vectorization)
+      for (Index i=alignedSize; i<size; ++i)
+        res[i] += cj.pmul(lhs0[i], pfirst(ptmp0));
+    }
+    if (skipColumns)
+    {
+      start = 0;
+      end = skipColumns;
+      skipColumns = 0;
+    }
+    else
+      break;
+  } while(Vectorizable);
+  #undef _EIGEN_ACCUMULATE_PACKETS
+}
+};
+
+/* Optimized row-major matrix * vector product:
+ * This algorithm processes 4 rows at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic:
+ *  - alpha is always a complex (or converted to a complex)
+ *  - no vectorization
+ */
+template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+  
+EIGEN_DONT_INLINE static void run(
+  Index rows, Index cols,
+  const LhsScalar* lhs, Index lhsStride,
+  const RhsScalar* rhs, Index rhsIncr,
+  ResScalar* res, Index resIncr,
+  ResScalar alpha)
+{
+  EIGEN_UNUSED_VARIABLE(rhsIncr);
+  eigen_internal_assert(rhsIncr==1);
+  #ifdef _EIGEN_ACCUMULATE_PACKETS
+  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+  #endif
+
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
+    RhsPacket b = pload<RhsPacket>(&rhs[j]); \
+    ptmp0 = pcj.pmadd(EIGEN_CAT(ploa,A0) <LhsPacket>(&lhs0[j]), b, ptmp0); \
+    ptmp1 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs1[j]), b, ptmp1); \
+    ptmp2 = pcj.pmadd(EIGEN_CAT(ploa,A2) <LhsPacket>(&lhs2[j]), b, ptmp2); \
+    ptmp3 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs3[j]), b, ptmp3); }
+
+  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+
+  enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
+  const Index rowsAtOnce = 4;
+  const Index peels = 2;
+  const Index RhsPacketAlignedMask = RhsPacketSize-1;
+  const Index LhsPacketAlignedMask = LhsPacketSize-1;
+  const Index PeelAlignedMask = RhsPacketSize*peels-1;
+  const Index depth = cols;
+
+  // How many coeffs of the result do we have to skip to be aligned.
+  // Here we assume data are at least aligned on the base scalar type
+  // if that's not the case then vectorization is discarded, see below.
+  Index alignedStart = first_aligned(rhs, depth);
+  Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
+  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+
+  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+  Index alignmentPattern = alignmentStep==0 ? AllAligned
+                         : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                         : FirstAligned;
+
+  // we cannot assume the first element is aligned because of sub-matrices
+  const Index lhsAlignmentOffset = first_aligned(lhs,depth);
+
+  // find how many rows do we have to skip to be aligned with rhs (if possible)
+  Index skipRows = 0;
+  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) || (size_t(lhs)%sizeof(LhsScalar)) || (size_t(rhs)%sizeof(RhsScalar)) )
+  {
+    alignedSize = 0;
+    alignedStart = 0;
+  }
+  else if (LhsPacketSize>1)
+  {
+    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
+
+    while (skipRows<LhsPacketSize &&
+           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
+      ++skipRows;
+    if (skipRows==LhsPacketSize)
+    {
+      // nothing can be aligned, no need to skip any column
+      alignmentPattern = NoneAligned;
+      skipRows = 0;
+    }
+    else
+    {
+      skipRows = (std::min)(skipRows,Index(rows));
+      // note that the skiped columns are processed later.
+    }
+    eigen_internal_assert(  alignmentPattern==NoneAligned
+                      || LhsPacketSize==1
+                      || (skipRows + rowsAtOnce >= rows)
+                      || LhsPacketSize > depth
+                      || (size_t(lhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);
+  }
+  else if(Vectorizable)
+  {
+    alignedStart = 0;
+    alignedSize = depth;
+    alignmentPattern = AllAligned;
+  }
+
+  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
+  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+
+  Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
+  for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
+  {
+    EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+    ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
+
+    // this helps the compiler generating good binary code
+    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
+                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+
+    if (Vectorizable)
+    {
+      /* explicit vectorization */
+      ResPacket ptmp0 = pset1<ResPacket>(ResScalar(0)), ptmp1 = pset1<ResPacket>(ResScalar(0)),
+                ptmp2 = pset1<ResPacket>(ResScalar(0)), ptmp3 = pset1<ResPacket>(ResScalar(0));
+
+      // process initial unaligned coeffs
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=0; j<alignedStart; ++j)
+      {
+        RhsScalar b = rhs[j];
+        tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
+        tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+      }
+
+      if (alignedSize>alignedStart)
+      {
+        switch(alignmentPattern)
+        {
+          case AllAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+            break;
+          case EvenAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+            break;
+          case FirstAligned:
+            if (peels>1)
+            {
+              /* Here we proccess 4 rows with with two peeled iterations to hide
+               * tghe overhead of unaligned loads. Moreover unaligned loads are handled
+               * using special shift/move operations between the two aligned packets
+               * overlaping the desired unaligned packet. This is *much* more efficient
+               * than basic unaligned loads.
+               */
+              LhsPacket A01, A02, A03, A11, A12, A13;
+              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
+              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
+              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+
+              for (Index j = alignedStart; j<peeledSize; j+=peels*RhsPacketSize)
+              {
+                RhsPacket b = pload<RhsPacket>(&rhs[j]);
+                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
+                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
+                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+
+                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), b, ptmp0);
+                ptmp1 = pcj.pmadd(A01, b, ptmp1);
+                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                ptmp2 = pcj.pmadd(A02, b, ptmp2);
+                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                ptmp3 = pcj.pmadd(A03, b, ptmp3);
+                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+
+                b = pload<RhsPacket>(&rhs[j+RhsPacketSize]);
+                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j+LhsPacketSize]), b, ptmp0);
+                ptmp1 = pcj.pmadd(A11, b, ptmp1);
+                ptmp2 = pcj.pmadd(A12, b, ptmp2);
+                ptmp3 = pcj.pmadd(A13, b, ptmp3);
+              }
+            }
+            for (Index j = peeledSize; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+            break;
+          default:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+            break;
+        }
+        tmp0 += predux(ptmp0);
+        tmp1 += predux(ptmp1);
+        tmp2 += predux(ptmp2);
+        tmp3 += predux(ptmp3);
+      }
+    } // end explicit vectorization
+
+    // process remaining coeffs (or all if no explicit vectorization)
+    // FIXME this loop get vectorized by the compiler !
+    for (Index j=alignedSize; j<depth; ++j)
+    {
+      RhsScalar b = rhs[j];
+      tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
+      tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+    }
+    res[i*resIncr]            += alpha*tmp0;
+    res[(i+offset1)*resIncr]  += alpha*tmp1;
+    res[(i+2)*resIncr]        += alpha*tmp2;
+    res[(i+offset3)*resIncr]  += alpha*tmp3;
+  }
+
+  // process remaining first and last rows (at most columnsAtOnce-1)
+  Index end = rows;
+  Index start = rowBound;
+  do
+  {
+    for (Index i=start; i<end; ++i)
+    {
+      EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+      ResPacket ptmp0 = pset1<ResPacket>(tmp0);
+      const LhsScalar* lhs0 = lhs + i*lhsStride;
+      // process first unaligned result's coeffs
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=0; j<alignedStart; ++j)
+        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+
+      if (alignedSize>alignedStart)
+      {
+        // process aligned rhs coeffs
+        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+            ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+        else
+          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+            ptmp0 = pcj.pmadd(ploadu<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+        tmp0 += predux(ptmp0);
+      }
+
+      // process remaining scalars
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=alignedSize; j<depth; ++j)
+        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+      res[i*resIncr] += alpha*tmp0;
+    }
+    if (skipRows)
+    {
+      start = 0;
+      end = skipRows;
+      skipRows = 0;
+    }
+    else
+      break;
+  } while(Vectorizable);
+
+  #undef _EIGEN_ACCUMULATE_PACKETS
+}
+};
+
+} // end namespace internal
+
+#endif // EIGEN_GENERAL_MATRIX_VECTOR_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/Parallelizer.h b/extern/Eigen3/Eigen/src/Core/products/Parallelizer.h
new file mode 100644
index 00000000000..ecdedc363ce
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/Parallelizer.h
@@ -0,0 +1,154 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARALLELIZER_H
+#define EIGEN_PARALLELIZER_H
+
+namespace internal {
+
+/** \internal */
+inline void manage_multi_threading(Action action, int* v)
+{
+  static EIGEN_UNUSED int m_maxThreads = -1;
+
+  if(action==SetAction)
+  {
+    eigen_internal_assert(v!=0);
+    m_maxThreads = *v;
+  }
+  else if(action==GetAction)
+  {
+    eigen_internal_assert(v!=0);
+    #ifdef EIGEN_HAS_OPENMP
+    if(m_maxThreads>0)
+      *v = m_maxThreads;
+    else
+      *v = omp_get_max_threads();
+    #else
+    *v = 1;
+    #endif
+  }
+  else
+  {
+    eigen_internal_assert(false);
+  }
+}
+
+/** \returns the max number of threads reserved for Eigen
+  * \sa setNbThreads */
+inline int nbThreads()
+{
+  int ret;
+  manage_multi_threading(GetAction, &ret);
+  return ret;
+}
+
+/** Sets the max number of threads reserved for Eigen
+  * \sa nbThreads */
+inline void setNbThreads(int v)
+{
+  manage_multi_threading(SetAction, &v);
+}
+
+template<typename Index> struct GemmParallelInfo
+{
+  GemmParallelInfo() : sync(-1), users(0), rhs_start(0), rhs_length(0) {}
+
+  int volatile sync;
+  int volatile users;
+
+  Index rhs_start;
+  Index rhs_length;
+};
+
+template<bool Condition, typename Functor, typename Index>
+void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpose)
+{
+#ifndef EIGEN_HAS_OPENMP
+  // FIXME the transpose variable is only needed to properly split
+  // the matrix product when multithreading is enabled. This is a temporary
+  // fix to support row-major destination matrices. This whole
+  // parallelizer mechanism has to be redisigned anyway.
+  EIGEN_UNUSED_VARIABLE(transpose);
+  func(0,rows, 0,cols);
+#else
+
+  // Dynamically check whether we should enable or disable OpenMP.
+  // The conditions are:
+  // - the max number of threads we can create is greater than 1
+  // - we are not already in a parallel code
+  // - the sizes are large enough
+
+  // 1- are we already in a parallel session?
+  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
+  if((!Condition) || (omp_get_num_threads()>1))
+    return func(0,rows, 0,cols);
+
+  Index size = transpose ? cols : rows;
+
+  // 2- compute the maximal number of threads from the size of the product:
+  // FIXME this has to be fine tuned
+  Index max_threads = std::max<Index>(1,size / 32);
+
+  // 3 - compute the number of threads we are going to use
+  Index threads = std::min<Index>(nbThreads(), max_threads);
+
+  if(threads==1)
+    return func(0,rows, 0,cols);
+
+  func.initParallelSession();
+
+  if(transpose)
+    std::swap(rows,cols);
+
+  Index blockCols = (cols / threads) & ~Index(0x3);
+  Index blockRows = (rows / threads) & ~Index(0x7);
+  
+  GemmParallelInfo<Index>* info = new GemmParallelInfo<Index>[threads];
+
+  #pragma omp parallel for schedule(static,1) num_threads(threads)
+  for(Index i=0; i<threads; ++i)
+  {
+    Index r0 = i*blockRows;
+    Index actualBlockRows = (i+1==threads) ? rows-r0 : blockRows;
+
+    Index c0 = i*blockCols;
+    Index actualBlockCols = (i+1==threads) ? cols-c0 : blockCols;
+
+    info[i].rhs_start = c0;
+    info[i].rhs_length = actualBlockCols;
+
+    if(transpose)
+      func(0, cols, r0, actualBlockRows, info);
+    else
+      func(r0, actualBlockRows, 0,cols, info);
+  }
+
+  delete[] info;
+#endif
+}
+
+} // end namespace internal
+
+#endif // EIGEN_PARALLELIZER_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
new file mode 100644
index 00000000000..ccd757cfaf8
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -0,0 +1,427 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+#define EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+
+namespace internal {
+
+// pack a selfadjoint block diagonal for use with the gebp_kernel
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder>
+struct symm_pack_lhs
+{
+  template<int BlockRows> inline
+  void pack(Scalar* blockA, const const_blas_data_mapper<Scalar,Index,StorageOrder>& lhs, Index cols, Index i, Index& count)
+  {
+    // normal copy
+    for(Index k=0; k<i; k++)
+      for(Index w=0; w<BlockRows; w++)
+        blockA[count++] = lhs(i+w,k);           // normal
+    // symmetric copy
+    Index h = 0;
+    for(Index k=i; k<i+BlockRows; k++)
+    {
+      for(Index w=0; w<h; w++)
+        blockA[count++] = conj(lhs(k, i+w)); // transposed
+
+      blockA[count++] = real(lhs(k,k));   // real (diagonal)
+
+      for(Index w=h+1; w<BlockRows; w++)
+        blockA[count++] = lhs(i+w, k);          // normal
+      ++h;
+    }
+    // transposed copy
+    for(Index k=i+BlockRows; k<cols; k++)
+      for(Index w=0; w<BlockRows; w++)
+        blockA[count++] = conj(lhs(k, i+w)); // transposed
+  }
+  void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
+    Index count = 0;
+    Index peeled_mc = (rows/Pack1)*Pack1;
+    for(Index i=0; i<peeled_mc; i+=Pack1)
+    {
+      pack<Pack1>(blockA, lhs, cols, i, count);
+    }
+
+    if(rows-peeled_mc>=Pack2)
+    {
+      pack<Pack2>(blockA, lhs, cols, peeled_mc, count);
+      peeled_mc += Pack2;
+    }
+
+    // do the same with mr==1
+    for(Index i=peeled_mc; i<rows; i++)
+    {
+      for(Index k=0; k<i; k++)
+        blockA[count++] = lhs(i, k);              // normal
+
+      blockA[count++] = real(lhs(i, i));       // real (diagonal)
+
+      for(Index k=i+1; k<cols; k++)
+        blockA[count++] = conj(lhs(k, i));     // transposed
+    }
+  }
+};
+
+template<typename Scalar, typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs
+{
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    Index end_k = k2 + rows;
+    Index count = 0;
+    const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
+    Index packet_cols = (cols/nr)*nr;
+
+    // first part: normal case
+    for(Index j2=0; j2<k2; j2+=nr)
+    {
+      for(Index k=k2; k<end_k; k++)
+      {
+        blockB[count+0] = rhs(k,j2+0);
+        blockB[count+1] = rhs(k,j2+1);
+        if (nr==4)
+        {
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+        }
+        count += nr;
+      }
+    }
+
+    // second part: diagonal block
+    for(Index j2=k2; j2<(std::min)(k2+rows,packet_cols); j2+=nr)
+    {
+      // again we can split vertically in three different parts (transpose, symmetric, normal)
+      // transpose
+      for(Index k=k2; k<j2; k++)
+      {
+        blockB[count+0] = conj(rhs(j2+0,k));
+        blockB[count+1] = conj(rhs(j2+1,k));
+        if (nr==4)
+        {
+          blockB[count+2] = conj(rhs(j2+2,k));
+          blockB[count+3] = conj(rhs(j2+3,k));
+        }
+        count += nr;
+      }
+      // symmetric
+      Index h = 0;
+      for(Index k=j2; k<j2+nr; k++)
+      {
+        // normal
+        for (Index w=0 ; w<h; ++w)
+          blockB[count+w] = rhs(k,j2+w);
+
+        blockB[count+h] = real(rhs(k,k));
+
+        // transpose
+        for (Index w=h+1 ; w<nr; ++w)
+          blockB[count+w] = conj(rhs(j2+w,k));
+        count += nr;
+        ++h;
+      }
+      // normal
+      for(Index k=j2+nr; k<end_k; k++)
+      {
+        blockB[count+0] = rhs(k,j2+0);
+        blockB[count+1] = rhs(k,j2+1);
+        if (nr==4)
+        {
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+        }
+        count += nr;
+      }
+    }
+
+    // third part: transposed
+    for(Index j2=k2+rows; j2<packet_cols; j2+=nr)
+    {
+      for(Index k=k2; k<end_k; k++)
+      {
+        blockB[count+0] = conj(rhs(j2+0,k));
+        blockB[count+1] = conj(rhs(j2+1,k));
+        if (nr==4)
+        {
+          blockB[count+2] = conj(rhs(j2+2,k));
+          blockB[count+3] = conj(rhs(j2+3,k));
+        }
+        count += nr;
+      }
+    }
+
+    // copy the remaining columns one at a time (=> the same with nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      // transpose
+      Index half = (std::min)(end_k,j2);
+      for(Index k=k2; k<half; k++)
+      {
+        blockB[count] = conj(rhs(j2,k));
+        count += 1;
+      }
+
+      if(half==j2 && half<k2+rows)
+      {
+        blockB[count] = real(rhs(j2,j2));
+        count += 1;
+      }
+      else
+        half--;
+
+      // normal
+      for(Index k=half+1; k<k2+rows; k++)
+      {
+        blockB[count] = rhs(k,j2);
+        count += 1;
+      }
+    }
+  }
+};
+
+/* Optimized selfadjoint matrix * matrix (_SYMM) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
+          int ResStorageOrder>
+struct product_selfadjoint_matrix;
+
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,ConjugateLhs, RhsStorageOrder,RhsSelfAdjoint,ConjugateRhs,RowMajor>
+{
+
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* lhs, Index lhsStride,
+    const Scalar* rhs, Index rhsStride,
+    Scalar* res,       Index resStride,
+    Scalar alpha)
+  {
+    product_selfadjoint_matrix<Scalar, Index,
+      EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+      RhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsSelfAdjoint,ConjugateRhs),
+      EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+      LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
+      ColMajor>
+      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha);
+  }
+};
+
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    Index size = rows;
+
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+
+    Index kc = size;  // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
+    // kc must smaller than mc
+    kc = (std::min)(kc,mc);
+
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+
+    for(Index k2=0; k2<size; k2+=kc)
+    {
+      const Index actual_kc = (std::min)(k2+kc,size)-k2;
+
+      // we have selected one row panel of rhs and one column panel of lhs
+      // pack rhs's panel into a sequential chunk of memory
+      // and expand each coeff to a constant packet for further reuse
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+
+      // the select lhs's panel has to be split in three different parts:
+      //  1 - the transposed panel above the diagonal block => transposed packed copy
+      //  2 - the diagonal block => special packed copy
+      //  3 - the panel below the diagonal block => generic packed copy
+      for(Index i2=0; i2<k2; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(i2+mc,k2)-i2;
+        // transposed packed copy
+        pack_lhs_transposed(blockA, &lhs(k2, i2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+      // the block diagonal
+      {
+        const Index actual_mc = (std::min)(k2+kc,size)-k2;
+        // symmetric packed copy
+        pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+k2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+
+      for(Index i2=k2+kc; i2<size; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(i2+mc,size)-i2;
+        gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+          (blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+    }
+  }
+};
+
+// matrix * selfadjoint product
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    Index size = cols;
+
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+
+    Index kc = size; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+
+    for(Index k2=0; k2<size; k2+=kc)
+    {
+      const Index actual_kc = (std::min)(k2+kc,size)-k2;
+
+      pack_rhs(blockB, _rhs, rhsStride, actual_kc, cols, k2);
+
+      // => GEPP
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(i2+mc,rows)-i2;
+        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_matrix
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
+struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
+struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  enum {
+    LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
+    LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
+    RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
+    RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
+  };
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    internal::product_selfadjoint_matrix<Scalar, Index,
+      EIGEN_LOGICAL_XOR(LhsIsUpper,
+                        internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
+      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
+      EIGEN_LOGICAL_XOR(RhsIsUpper,
+                        internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
+      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
+      internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor>
+      ::run(
+        lhs.rows(), rhs.cols(),                 // sizes
+        &lhs.coeffRef(0,0),    lhs.outerStride(),  // lhs info
+        &rhs.coeffRef(0,0),    rhs.outerStride(),  // rhs info
+        &dst.coeffRef(0,0), dst.outerStride(),  // result info
+        actualAlpha                             // alpha
+      );
+  }
+};
+
+#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h b/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
new file mode 100644
index 00000000000..d6121fc07bd
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -0,0 +1,278 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+
+namespace internal {
+
+/* Optimized selfadjoint matrix * vector product:
+ * This algorithm processes 2 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 2 and to reduce
+ * the instruction dependency.
+ */
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs>
+static EIGEN_DONT_INLINE void product_selfadjoint_vector(
+  Index size,
+  const Scalar*  lhs, Index lhsStride,
+  const Scalar* _rhs, Index rhsIncr,
+  Scalar* res,
+  Scalar alpha)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
+
+  enum {
+    IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
+    IsLower = UpLo == Lower ? 1 : 0,
+    FirstTriangular = IsRowMajor == IsLower
+  };
+
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
+
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
+
+  Scalar cjAlpha = ConjugateRhs ? conj(alpha) : alpha;
+
+  // FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
+  // if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
+  // this is because we need to extract packets
+  ei_declare_aligned_stack_constructed_variable(Scalar,rhs,size,rhsIncr==1 ? const_cast<Scalar*>(_rhs) : 0);  
+  if (rhsIncr!=1)
+  {
+    const Scalar* it = _rhs;
+    for (Index i=0; i<size; ++i, it+=rhsIncr)
+      rhs[i] = *it;
+  }
+
+  Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
+  if (FirstTriangular)
+    bound = size - bound;
+
+  for (Index j=FirstTriangular ? bound : 0;
+       j<(FirstTriangular ? size : bound);j+=2)
+  {
+    register const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+    register const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
+
+    Scalar t0 = cjAlpha * rhs[j];
+    Packet ptmp0 = pset1<Packet>(t0);
+    Scalar t1 = cjAlpha * rhs[j+1];
+    Packet ptmp1 = pset1<Packet>(t1);
+
+    Scalar t2 = 0;
+    Packet ptmp2 = pset1<Packet>(t2);
+    Scalar t3 = 0;
+    Packet ptmp3 = pset1<Packet>(t3);
+
+    size_t starti = FirstTriangular ? 0 : j+2;
+    size_t endi   = FirstTriangular ? j : size;
+    size_t alignedStart = (starti) + first_aligned(&res[starti], endi-starti);
+    size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
+
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j]   += cjd.pmul(internal::real(A0[j]), t0);
+    res[j+1] += cjd.pmul(internal::real(A1[j+1]), t1);
+    if(FirstTriangular)
+    {
+      res[j]   += cj0.pmul(A1[j],   t1);
+      t3       += cj1.pmul(A1[j],   rhs[j]);
+    }
+    else
+    {
+      res[j+1] += cj0.pmul(A0[j+1],t0);
+      t2 += cj1.pmul(A0[j+1], rhs[j+1]);
+    }
+
+    for (size_t i=starti; i<alignedStart; ++i)
+    {
+      res[i] += t0 * A0[i] + t1 * A1[i];
+      t2 += conj(A0[i]) * rhs[i];
+      t3 += conj(A1[i]) * rhs[i];
+    }
+    // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
+    // gcc 4.2 does this optimization automatically.
+    const Scalar* EIGEN_RESTRICT a0It  = A0  + alignedStart;
+    const Scalar* EIGEN_RESTRICT a1It  = A1  + alignedStart;
+    const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
+          Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
+    for (size_t i=alignedStart; i<alignedEnd; i+=PacketSize)
+    {
+      Packet A0i = ploadu<Packet>(a0It);  a0It  += PacketSize;
+      Packet A1i = ploadu<Packet>(a1It);  a1It  += PacketSize;
+      Packet Bi  = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
+      Packet Xi  = pload <Packet>(resIt);
+
+      Xi    = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
+      ptmp2 = pcj1.pmadd(A0i,  Bi, ptmp2);
+      ptmp3 = pcj1.pmadd(A1i,  Bi, ptmp3);
+      pstore(resIt,Xi); resIt += PacketSize;
+    }
+    for (size_t i=alignedEnd; i<endi; i++)
+    {
+      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+      t3 += cj1.pmul(A1[i], rhs[i]);
+    }
+
+    res[j]   += alpha * (t2 + predux(ptmp2));
+    res[j+1] += alpha * (t3 + predux(ptmp3));
+  }
+  for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
+  {
+    register const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+
+    Scalar t1 = cjAlpha * rhs[j];
+    Scalar t2 = 0;
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j] += cjd.pmul(internal::real(A0[j]), t1);
+    for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
+    {
+      res[i] += cj0.pmul(A0[i], t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+    }
+    res[j] += alpha * t2;
+  }
+}
+
+} // end namespace internal 
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_vector
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, int LhsMode, typename Rhs>
+struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, int LhsMode, typename Rhs>
+struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    LhsUpLo = LhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    typedef typename Dest::Scalar ResScalar;
+    typedef typename Base::RhsScalar RhsScalar;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    
+    eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
+
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    enum {
+      EvalToDest = (Dest::InnerStrideAtCompileTime==1),
+      UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
+    };
+    
+    internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
+    internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+
+    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                  EvalToDest ? dest.data() : static_dest.data());
+                                                  
+    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,rhs.size(),
+        UseRhs ? const_cast<RhsScalar*>(rhs.data()) : static_rhs.data());
+    
+    if(!EvalToDest)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+      
+    if(!UseRhs)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = rhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+    }
+      
+      
+    internal::product_selfadjoint_vector<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>
+      (
+        lhs.rows(),                             // size
+        &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
+        actualRhsPtr, 1,                        // rhs info
+        actualDestPtr,                          // result info
+        actualAlpha                             // scale factor
+      );
+    
+    if(!EvalToDest)
+      dest = MappedDest(actualDestPtr, dest.size());
+  }
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs, int RhsMode>
+struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, typename Rhs, int RhsMode>
+struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    RhsUpLo = RhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    // let's simply transpose the product
+    Transpose<Dest> destT(dest);
+    SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+                             Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
+  }
+};
+
+
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/SelfadjointProduct.h b/extern/Eigen3/Eigen/src/Core/products/SelfadjointProduct.h
new file mode 100644
index 00000000000..3a4523fa4a9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/SelfadjointProduct.h
@@ -0,0 +1,136 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_PRODUCT_H
+#define EIGEN_SELFADJOINT_PRODUCT_H
+
+/**********************************************************************
+* This file implements a self adjoint product: C += A A^T updating only
+* half of the selfadjoint matrix C.
+* It corresponds to the level 3 SYRK and level 2 SYR Blas routines.
+**********************************************************************/
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update;
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo,ConjLhs,ConjRhs>
+{
+  static void run(Index size, Scalar* mat, Index stride, const Scalar* vec, Scalar alpha)
+  {
+    internal::conj_if<ConjRhs> cj;
+    typedef Map<const Matrix<Scalar,Dynamic,1> > OtherMap;
+    typedef typename internal::conditional<ConjLhs,typename OtherMap::ConjugateReturnType,const OtherMap&>::type ConjRhsType;
+    for (Index i=0; i<size; ++i)
+    {
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+(UpLo==Lower ? i : 0), (UpLo==Lower ? size-i : (i+1)))
+          += (alpha * cj(vec[i])) * ConjRhsType(OtherMap(vec+(UpLo==Lower ? i : 0),UpLo==Lower ? size-i : (i+1)));
+    }
+  }
+};
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,RowMajor,UpLo,ConjLhs,ConjRhs>
+{
+  static void run(Index size, Scalar* mat, Index stride, const Scalar* vec, Scalar alpha)
+  {
+    selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo==Lower?Upper:Lower,ConjRhs,ConjLhs>::run(size,mat,stride,vec,alpha);
+  }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo, bool OtherIsVector = OtherType::IsVectorAtCompileTime>
+struct selfadjoint_product_selector;
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
+{
+  static void run(MatrixType& mat, const OtherType& other, typename MatrixType::Scalar alpha)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef internal::blas_traits<OtherType> OtherBlasTraits;
+    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+    const ActualOtherType actualOther = OtherBlasTraits::extract(other.derived());
+
+    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+    enum {
+      StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+      UseOtherDirectly = _ActualOtherType::InnerStrideAtCompileTime==1
+    };
+    internal::gemv_static_vector_if<Scalar,OtherType::SizeAtCompileTime,OtherType::MaxSizeAtCompileTime,!UseOtherDirectly> static_other;
+
+    ei_declare_aligned_stack_constructed_variable(Scalar, actualOtherPtr, other.size(),
+      (UseOtherDirectly ? const_cast<Scalar*>(actualOther.data()) : static_other.data()));
+      
+    if(!UseOtherDirectly)
+      Map<typename _ActualOtherType::PlainObject>(actualOtherPtr, actualOther.size()) = actualOther;
+    
+    selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
+                              OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+                            (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex>
+          ::run(other.size(), mat.data(), mat.outerStride(), actualOtherPtr, actualAlpha);
+  }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
+{
+  static void run(MatrixType& mat, const OtherType& other, typename MatrixType::Scalar alpha)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef internal::blas_traits<OtherType> OtherBlasTraits;
+    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+    const ActualOtherType actualOther = OtherBlasTraits::extract(other.derived());
+
+    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+    enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+    
+    internal::general_matrix_matrix_triangular_product<Index,
+      Scalar, _ActualOtherType::Flags&RowMajorBit ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+      Scalar, _ActualOtherType::Flags&RowMajorBit ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
+      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
+      ::run(mat.cols(), actualOther.cols(),
+            &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
+            mat.data(), mat.outerStride(), actualAlpha);
+  }
+};
+
+// high level API
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, Scalar alpha)
+{
+  selfadjoint_product_selector<MatrixType,DerivedU,UpLo>::run(_expression().const_cast_derived(), u.derived(), alpha);
+
+  return *this;
+}
+
+#endif // EIGEN_SELFADJOINT_PRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h b/extern/Eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
new file mode 100644
index 00000000000..9f8b8438a5d
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -0,0 +1,104 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTRANK2UPTADE_H
+#define EIGEN_SELFADJOINTRANK2UPTADE_H
+
+namespace internal {
+
+/* Optimized selfadjoint matrix += alpha * uv' + conj(alpha)*vu'
+ * It corresponds to the Level2 syr2 BLAS routine
+ */
+
+template<typename Scalar, typename Index, typename UType, typename VType, int UpLo>
+struct selfadjoint_rank2_update_selector;
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Lower>
+{
+  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, Scalar alpha)
+  {
+    const Index size = u.size();
+    for (Index i=0; i<size; ++i)
+    {
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+i, size-i) +=
+                        (conj(alpha)  * conj(u.coeff(i))) * v.tail(size-i)
+                      + (alpha * conj(v.coeff(i))) * u.tail(size-i);
+    }
+  }
+};
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Upper>
+{
+  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, Scalar alpha)
+  {
+    const Index size = u.size();
+    for (Index i=0; i<size; ++i)
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i, i+1) +=
+                        (conj(alpha)  * conj(u.coeff(i))) * v.head(i+1)
+                      + (alpha * conj(v.coeff(i))) * u.head(i+1);
+  }
+};
+
+template<bool Cond, typename T> struct conj_expr_if
+  : conditional<!Cond, const T&,
+      CwiseUnaryOp<scalar_conjugate_op<typename traits<T>::Scalar>,T> > {};
+
+} // end namespace internal
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU, typename DerivedV>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, Scalar alpha)
+{
+  typedef internal::blas_traits<DerivedU> UBlasTraits;
+  typedef typename UBlasTraits::DirectLinearAccessType ActualUType;
+  typedef typename internal::remove_all<ActualUType>::type _ActualUType;
+  const ActualUType actualU = UBlasTraits::extract(u.derived());
+
+  typedef internal::blas_traits<DerivedV> VBlasTraits;
+  typedef typename VBlasTraits::DirectLinearAccessType ActualVType;
+  typedef typename internal::remove_all<ActualVType>::type _ActualVType;
+  const ActualVType actualV = VBlasTraits::extract(v.derived());
+
+  // If MatrixType is row major, then we use the routine for lower triangular in the upper triangular case and
+  // vice versa, and take the complex conjugate of all coefficients and vector entries.
+
+  enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+  Scalar actualAlpha = alpha * UBlasTraits::extractScalarFactor(u.derived())
+                             * internal::conj(VBlasTraits::extractScalarFactor(v.derived()));
+  if (IsRowMajor)
+    actualAlpha = internal::conj(actualAlpha);
+
+  internal::selfadjoint_rank2_update_selector<Scalar, Index,
+    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type,
+    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type,
+    (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
+    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),actualU,actualV,actualAlpha);
+
+  return *this;
+}
+
+#endif // EIGEN_SELFADJOINTRANK2UPTADE_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h b/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
new file mode 100644
index 00000000000..0c48d2efb75
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -0,0 +1,403 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+#define EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+
+namespace internal {
+
+// template<typename Scalar, int mr, int StorageOrder, bool Conjugate, int Mode>
+// struct gemm_pack_lhs_triangular
+// {
+//   Matrix<Scalar,mr,mr,
+//   void operator()(Scalar* blockA, const EIGEN_RESTRICT Scalar* _lhs, int lhsStride, int depth, int rows)
+//   {
+//     conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+//     const_blas_data_mapper<Scalar, StorageOrder> lhs(_lhs,lhsStride);
+//     int count = 0;
+//     const int peeled_mc = (rows/mr)*mr;
+//     for(int i=0; i<peeled_mc; i+=mr)
+//     {
+//       for(int k=0; k<depth; k++)
+//         for(int w=0; w<mr; w++)
+//           blockA[count++] = cj(lhs(i+w, k));
+//     }
+//     for(int i=peeled_mc; i<rows; i++)
+//     {
+//       for(int k=0; k<depth; k++)
+//         blockA[count++] = cj(lhs(i, k));
+//     }
+//   }
+// };
+
+/* Optimized triangular matrix * matrix (_TRMM++) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+          int Mode, bool LhsIsTriangular,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResStorageOrder>
+struct product_triangular_matrix_matrix;
+
+template <typename Scalar, typename Index,
+          int Mode, bool LhsIsTriangular,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,RowMajor>
+{
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const Scalar* lhs, Index lhsStride,
+    const Scalar* rhs, Index rhsStride,
+    Scalar* res,       Index resStride,
+    Scalar alpha)
+  {
+    product_triangular_matrix_matrix<Scalar, Index,
+      (Mode&(UnitDiag|ZeroDiag)) | ((Mode&Upper) ? Lower : Upper),
+      (!LhsIsTriangular),
+      RhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+      ConjugateRhs,
+      LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+      ConjugateLhs,
+      ColMajor>
+      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha);
+  }
+};
+
+// implements col-major += alpha * op(triangular) * op(general)
+template <typename Scalar, typename Index, int Mode,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+  
+  typedef gebp_traits<Scalar,Scalar> Traits;
+  enum {
+    SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+    IsLower = (Mode&Lower) == Lower,
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+  };
+
+  static EIGEN_DONT_INLINE void run(
+    Index _rows, Index _cols, Index _depth,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    // strip zeros
+    Index diagSize  = (std::min)(_rows,_depth);
+    Index rows      = IsLower ? _rows : diagSize;
+    Index depth     = IsLower ? diagSize : _depth;
+    Index cols      = _cols;
+    
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);    
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer;
+    triangularBuffer.setZero();
+    if((Mode&ZeroDiag)==ZeroDiag)
+      triangularBuffer.diagonal().setZero();
+    else
+      triangularBuffer.diagonal().setOnes();
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+
+    for(Index k2=IsLower ? depth : 0;
+        IsLower ? k2>0 : k2<depth;
+        IsLower ? k2-=kc : k2+=kc)
+    {
+      Index actual_kc = (std::min)(IsLower ? k2 : depth-k2, kc);
+      Index actual_k2 = IsLower ? k2-actual_kc : k2;
+
+      // align blocks with the end of the triangular part for trapezoidal lhs
+      if((!IsLower)&&(k2<rows)&&(k2+actual_kc>rows))
+      {
+        actual_kc = rows-k2;
+        k2 = k2+actual_kc-kc;
+      }
+
+      pack_rhs(blockB, &rhs(actual_k2,0), rhsStride, actual_kc, cols);
+
+      // the selected lhs's panel has to be split in three different parts:
+      //  1 - the part which is zero => skip it
+      //  2 - the diagonal block => special kernel
+      //  3 - the dense panel below (lower case) or above (upper case) the diagonal block => GEPP
+
+      // the block diagonal, if any:
+      if(IsLower || actual_k2<rows)
+      {
+        // for each small vertical panels of lhs
+        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
+          Index startBlock   = actual_k2+k1;
+          Index blockBOffset = k1;
+
+          // => GEBP with the micro triangular block
+          // The trick is to pack this micro block while filling the opposite triangular part with zeros.
+          // To this end we do an extra triangular copy to a small temporary buffer
+          for (Index k=0;k<actualPanelWidth;++k)
+          {
+            if (SetDiag)
+              triangularBuffer.coeffRef(k,k) = lhs(startBlock+k,startBlock+k);
+            for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
+              triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
+          }
+          pack_lhs(blockA, triangularBuffer.data(), triangularBuffer.outerStride(), actualPanelWidth, actualPanelWidth);
+
+          gebp_kernel(res+startBlock, resStride, blockA, blockB, actualPanelWidth, actualPanelWidth, cols, alpha,
+                      actualPanelWidth, actual_kc, 0, blockBOffset);
+
+          // GEBP with remaining micro panel
+          if (lengthTarget>0)
+          {
+            Index startTarget  = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
+
+            pack_lhs(blockA, &lhs(startTarget,startBlock), lhsStride, actualPanelWidth, lengthTarget);
+
+            gebp_kernel(res+startTarget, resStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, alpha,
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
+          }
+        }
+      }
+      // the part below (lower case) or above (upper case) the diagonal => GEPP
+      {
+        Index start = IsLower ? k2 : 0;
+        Index end   = IsLower ? rows : (std::min)(actual_k2,rows);
+        for(Index i2=start; i2<end; i2+=mc)
+        {
+          const Index actual_mc = (std::min)(i2+mc,end)-i2;
+          gemm_pack_lhs<Scalar, Index, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+            (blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+
+          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        }
+      }
+    }
+  }
+};
+
+// implements col-major += alpha * op(general) * op(triangular)
+template <typename Scalar, typename Index, int Mode,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+  typedef gebp_traits<Scalar,Scalar> Traits;
+  enum {
+    SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+    IsLower = (Mode&Lower) == Lower,
+    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+  };
+
+  static EIGEN_DONT_INLINE void run(
+    Index _rows, Index _cols, Index _depth,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    // strip zeros
+    Index diagSize  = (std::min)(_cols,_depth);
+    Index rows      = _rows;
+    Index depth     = IsLower ? _depth : diagSize;
+    Index cols      = IsLower ? diagSize : _cols;
+    
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer;
+    triangularBuffer.setZero();
+    if((Mode&ZeroDiag)==ZeroDiag)
+      triangularBuffer.diagonal().setZero();
+    else
+      triangularBuffer.diagonal().setOnes();
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+
+    for(Index k2=IsLower ? 0 : depth;
+        IsLower ? k2<depth  : k2>0;
+        IsLower ? k2+=kc   : k2-=kc)
+    {
+      Index actual_kc = (std::min)(IsLower ? depth-k2 : k2, kc);
+      Index actual_k2 = IsLower ? k2 : k2-actual_kc;
+
+      // align blocks with the end of the triangular part for trapezoidal rhs
+      if(IsLower && (k2<cols) && (actual_k2+actual_kc>cols))
+      {
+        actual_kc = cols-k2;
+        k2 = actual_k2 + actual_kc - kc;
+      }
+
+      // remaining size
+      Index rs = IsLower ? (std::min)(cols,actual_k2) : cols - k2;
+      // size of the triangular part
+      Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
+
+      Scalar* geb = blockB+ts*ts;
+
+      pack_rhs(geb, &rhs(actual_k2,IsLower ? 0 : k2), rhsStride, actual_kc, rs);
+
+      // pack the triangular part of the rhs padding the unrolled blocks with zeros
+      if(ts>0)
+      {
+        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+          Index actual_j2 = actual_k2 + j2;
+          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+          // general part
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         &rhs(actual_k2+panelOffset, actual_j2), rhsStride,
+                         panelLength, actualPanelWidth,
+                         actual_kc, panelOffset);
+
+          // append the triangular part via a temporary buffer
+          for (Index j=0;j<actualPanelWidth;++j)
+          {
+            if (SetDiag)
+              triangularBuffer.coeffRef(j,j) = rhs(actual_j2+j,actual_j2+j);
+            for (Index k=IsLower ? j+1 : 0; IsLower ? k<actualPanelWidth : k<j; ++k)
+              triangularBuffer.coeffRef(k,j) = rhs(actual_j2+k,actual_j2+j);
+          }
+
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         triangularBuffer.data(), triangularBuffer.outerStride(),
+                         actualPanelWidth, actualPanelWidth,
+                         actual_kc, j2);
+        }
+      }
+
+      for (Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(mc,rows-i2);
+        pack_lhs(blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+
+        // triangular kernel
+        if(ts>0)
+        {
+          for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+          {
+            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+            Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
+            Index blockOffset = IsLower ? j2 : 0;
+
+            gebp_kernel(res+i2+(actual_k2+j2)*resStride, resStride,
+                        blockA, blockB+j2*actual_kc,
+                        actual_mc, panelLength, actualPanelWidth,
+                        alpha,
+                        actual_kc, actual_kc,  // strides
+                        blockOffset, blockOffset,// offsets
+                        allocatedBlockB); // workspace
+          }
+        }
+        gebp_kernel(res+i2+(IsLower ? 0 : k2)*resStride, resStride,
+                    blockA, geb, actual_mc, actual_kc, rs,
+                    alpha,
+                    -1, -1, 0, 0, allocatedBlockB);
+      }
+    }
+  }
+};
+
+/***************************************************************************
+* Wrapper to product_triangular_matrix_matrix
+***************************************************************************/
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false> >
+  : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs> >
+{};
+
+} // end namespace internal
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
+  : public ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    internal::product_triangular_matrix_matrix<Scalar, Index,
+      Mode, LhsIsTriangular,
+      (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
+      ::run(
+        lhs.rows(), rhs.cols(), lhs.cols(),// LhsIsTriangular ? rhs.cols() : lhs.rows(),           // sizes
+        &lhs.coeffRef(0,0),    lhs.outerStride(), // lhs info
+        &rhs.coeffRef(0,0),    rhs.outerStride(), // rhs info
+        &dst.coeffRef(0,0), dst.outerStride(), // result info
+        actualAlpha                            // alpha
+      );
+  }
+};
+
+
+#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixVector.h b/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
new file mode 100644
index 00000000000..71b4a52ab80
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -0,0 +1,325 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
+#define EIGEN_TRIANGULARMATRIXVECTOR_H
+
+namespace internal {
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder>
+struct product_triangular_matrix_vector;
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs>
+struct product_triangular_matrix_vector<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    HasUnitDiag = (Mode & UnitDiag)==UnitDiag
+  };
+  static EIGEN_DONT_INLINE  void run(Index rows, Index cols, const LhsScalar* _lhs, Index lhsStride,
+                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, ResScalar alpha)
+  {
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+    
+    typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
+    const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
+    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+    typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
+    ResMap res(_res,rows);
+
+    for (Index pi=0; pi<cols; pi+=PanelWidth)
+    {
+      Index actualPanelWidth = (std::min)(PanelWidth, cols-pi);
+      for (Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = pi + k;
+        Index s = IsLower ? (HasUnitDiag ? i+1 : i ) : pi;
+        Index r = IsLower ? actualPanelWidth-k : k+1;
+        if ((!HasUnitDiag) || (--r)>0)
+          res.segment(s,r) += (alpha * cjRhs.coeff(i)) * cjLhs.col(i).segment(s,r);
+        if (HasUnitDiag)
+          res.coeffRef(i) += alpha * cjRhs.coeff(i);
+      }
+      Index r = IsLower ? cols - pi - actualPanelWidth : pi;
+      if (r>0)
+      {
+        Index s = IsLower ? pi+actualPanelWidth : 0;
+        general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+            r, actualPanelWidth,
+            &lhs.coeffRef(s,pi), lhsStride,
+            &rhs.coeffRef(pi), rhsIncr,
+            &res.coeffRef(s), resIncr, alpha);
+      }
+    }
+  }
+};
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs>
+struct product_triangular_matrix_vector<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    HasUnitDiag = (Mode & UnitDiag)==UnitDiag
+  };
+  static void run(Index rows, Index cols, const LhsScalar* _lhs, Index lhsStride,
+                  const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, ResScalar alpha)
+  {
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+
+    typedef Map<const Matrix<RhsScalar,Dynamic,1> > RhsMap;
+    const RhsMap rhs(_rhs,cols);
+    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+    typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
+    ResMap res(_res,rows,InnerStride<>(resIncr));
+    
+    for (Index pi=0; pi<cols; pi+=PanelWidth)
+    {
+      Index actualPanelWidth = (std::min)(PanelWidth, cols-pi);
+      for (Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = pi + k;
+        Index s = IsLower ? pi  : (HasUnitDiag ? i+1 : i);
+        Index r = IsLower ? k+1 : actualPanelWidth-k;
+        if ((!HasUnitDiag) || (--r)>0)
+          res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
+        if (HasUnitDiag)
+          res.coeffRef(i) += alpha * cjRhs.coeff(i);
+      }
+      Index r = IsLower ? pi : cols - pi - actualPanelWidth;
+      if (r>0)
+      {
+        Index s = IsLower ? 0 : pi + actualPanelWidth;
+        general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+            actualPanelWidth, r,
+            &lhs.coeffRef(pi,s), lhsStride,
+            &rhs.coeffRef(s), rhsIncr,
+            &res.coeffRef(pi), resIncr, alpha);
+      }
+    }
+  }
+};
+
+/***************************************************************************
+* Wrapper to product_triangular_vector
+***************************************************************************/
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true> >
+ : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true>, Lhs, Rhs> >
+{};
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false> >
+ : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false>, Lhs, Rhs> >
+{};
+
+
+template<int StorageOrder>
+struct trmv_selector;
+
+} // end namespace internal
+
+template<int Mode, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,true,Lhs,false,Rhs,true>
+  : public ProductBase<TriangularProduct<Mode,true,Lhs,false,Rhs,true>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+  
+    internal::trmv_selector<(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dst, alpha);
+  }
+};
+
+template<int Mode, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,false,Lhs,true,Rhs,false>
+  : public ProductBase<TriangularProduct<Mode,false,Lhs,true,Rhs,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+
+    typedef TriangularProduct<(Mode & UnitDiag) | ((Mode & Lower) ? Upper : Lower),true,Transpose<const Rhs>,false,Transpose<const Lhs>,true> TriangularProductTranspose;
+    Transpose<Dest> dstT(dst);
+    internal::trmv_selector<(int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>::run(
+      TriangularProductTranspose(m_rhs.transpose(),m_lhs.transpose()), dstT, alpha);
+  }
+};
+
+namespace internal {
+
+// TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
+  
+template<> struct trmv_selector<ColMajor>
+{
+  template<int Mode, typename Lhs, typename Rhs, typename Dest>
+  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar alpha)
+  {
+    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::LhsScalar   LhsScalar;
+    typedef typename ProductType::RhsScalar   RhsScalar;
+    typedef typename ProductType::Scalar      ResScalar;
+    typedef typename ProductType::RealScalar  RealScalar;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+
+    const ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
+    const ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+    };
+
+    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+    bool alphaIsCompatible = (!ComplexByReal) || (imag(actualAlpha)==RealScalar(0));
+    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+    
+    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                  evalToDest ? dest.data() : static_dest.data());
+
+    if(!evalToDest)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if(!alphaIsCompatible)
+      {
+        MappedDest(actualDestPtr, dest.size()).setZero();
+        compatibleAlpha = RhsScalar(1);
+      }
+      else
+        MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+    
+    internal::product_triangular_matrix_vector
+      <Index,Mode,
+       LhsScalar, LhsBlasTraits::NeedToConjugate,
+       RhsScalar, RhsBlasTraits::NeedToConjugate,
+       ColMajor>
+      ::run(actualLhs.rows(),actualLhs.cols(),
+            actualLhs.data(),actualLhs.outerStride(),
+            actualRhs.data(),actualRhs.innerStride(),
+            actualDestPtr,1,compatibleAlpha);
+
+    if (!evalToDest)
+    {
+      if(!alphaIsCompatible)
+        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
+      else
+        dest = MappedDest(actualDestPtr, dest.size());
+    }
+  }
+};
+
+template<> struct trmv_selector<RowMajor>
+{
+  template<int Mode, typename Lhs, typename Rhs, typename Dest>
+  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar alpha)
+  {
+    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
+    typedef typename ProductType::LhsScalar LhsScalar;
+    typedef typename ProductType::RhsScalar RhsScalar;
+    typedef typename ProductType::Scalar    ResScalar;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::_ActualRhsType _ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+    };
+
+    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
+        DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
+
+    if(!DirectlyUseRhs)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = actualRhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+    }
+    
+    internal::product_triangular_matrix_vector
+      <Index,Mode,
+       LhsScalar, LhsBlasTraits::NeedToConjugate,
+       RhsScalar, RhsBlasTraits::NeedToConjugate,
+       RowMajor>
+      ::run(actualLhs.rows(),actualLhs.cols(),
+            actualLhs.data(),actualLhs.outerStride(),
+            actualRhsPtr,1,
+            dest.data(),dest.innerStride(),
+            actualAlpha);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULARMATRIXVECTOR_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h b/extern/Eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
new file mode 100644
index 00000000000..4dced6b0eb9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -0,0 +1,319 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+#define EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+
+namespace internal {
+
+// if the rhs is row major, let's transpose the product
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,Side,Mode,Conjugate,TriStorageOrder,RowMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index cols,
+    const Scalar*  tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    triangular_solve_matrix<
+      Scalar, Index, Side==OnTheLeft?OnTheRight:OnTheLeft,
+      (Mode&UnitDiag) | ((Mode&Upper) ? Lower : Upper),
+      NumTraits<Scalar>::IsComplex && Conjugate,
+      TriStorageOrder==RowMajor ? ColMajor : RowMajor, ColMajor>
+      ::run(size, cols, tri, triStride, _other, otherStride);
+  }
+};
+
+/* Optimized triangular solver with multiple right hand side and the triangular matrix on the left
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index otherSize,
+    const Scalar* _tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    Index cols = otherSize;
+    const_blas_data_mapper<Scalar, Index, TriStorageOrder> tri(_tri,triStride);
+    blas_data_mapper<Scalar, Index, ColMajor> other(_other,otherStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower
+    };
+
+    Index kc = size; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    conj_if<Conjugate> conj;
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr, ColMajor, false, true> pack_rhs;
+
+    for(Index k2=IsLower ? 0 : size;
+        IsLower ? k2<size : k2>0;
+        IsLower ? k2+=kc : k2-=kc)
+    {
+      const Index actual_kc = (std::min)(IsLower ? size-k2 : k2, kc);
+
+      // We have selected and packed a big horizontal panel R1 of rhs. Let B be the packed copy of this panel,
+      // and R2 the remaining part of rhs. The corresponding vertical panel of lhs is split into
+      // A11 (the triangular part) and A21 the remaining rectangular part.
+      // Then the high level algorithm is:
+      //  - B = R1                    => general block copy (done during the next step)
+      //  - R1 = L1^-1 B              => tricky part
+      //  - update B from the new R1  => actually this has to be performed continuously during the above step
+      //  - R2 = L2 * B               => GEPP
+
+      // The tricky part: compute R1 = L1^-1 B while updating B from R1
+      // The idea is to split L1 into multiple small vertical panels.
+      // Each panel can be split into a small triangular part A1 which is processed without optimization,
+      // and the remaining small part A2 which is processed using gebp with appropriate block strides
+      {
+        // for each small vertical panels of lhs
+        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          // tr solve
+          for (Index k=0; k<actualPanelWidth; ++k)
+          {
+            // TODO write a small kernel handling this (can be shared with trsv)
+            Index i  = IsLower ? k2+k1+k : k2-k1-k-1;
+            Index s  = IsLower ? k2+k1 : i+1;
+            Index rs = actualPanelWidth - k - 1; // remaining size
+
+            Scalar a = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(tri(i,i));
+            for (Index j=0; j<cols; ++j)
+            {
+              if (TriStorageOrder==RowMajor)
+              {
+                Scalar b = 0;
+                const Scalar* l = &tri(i,s);
+                Scalar* r = &other(s,j);
+                for (Index i3=0; i3<k; ++i3)
+                  b += conj(l[i3]) * r[i3];
+
+                other(i,j) = (other(i,j) - b)*a;
+              }
+              else
+              {
+                Index s = IsLower ? i+1 : i-rs;
+                Scalar b = (other(i,j) *= a);
+                Scalar* r = &other(s,j);
+                const Scalar* l = &tri(s,i);
+                for (Index i3=0;i3<rs;++i3)
+                  r[i3] -= b * conj(l[i3]);
+              }
+            }
+          }
+
+          Index lengthTarget = actual_kc-k1-actualPanelWidth;
+          Index startBlock   = IsLower ? k2+k1 : k2-k1-actualPanelWidth;
+          Index blockBOffset = IsLower ? k1 : lengthTarget;
+
+          // update the respective rows of B from other
+          pack_rhs(blockB, _other+startBlock, otherStride, actualPanelWidth, cols, actual_kc, blockBOffset);
+
+          // GEBP
+          if (lengthTarget>0)
+          {
+            Index startTarget  = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
+
+            pack_lhs(blockA, &tri(startTarget,startBlock), triStride, actualPanelWidth, lengthTarget);
+
+            gebp_kernel(_other+startTarget, otherStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, Scalar(-1),
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
+          }
+        }
+      }
+
+      // R2 = A2 * B => GEPP
+      {
+        Index start = IsLower ? k2+kc : 0;
+        Index end   = IsLower ? size : k2-kc;
+        for(Index i2=start; i2<end; i2+=mc)
+        {
+          const Index actual_mc = (std::min)(mc,end-i2);
+          if (actual_mc>0)
+          {
+            pack_lhs(blockA, &tri(i2, IsLower ? k2 : k2-kc), triStride, actual_kc, actual_mc);
+
+            gebp_kernel(_other+i2, otherStride, blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1));
+          }
+        }
+      }
+    }
+  }
+};
+
+/* Optimized triangular solver with multiple left hand sides and the trinagular matrix on the right
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index otherSize,
+    const Scalar* _tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    Index rows = otherSize;
+    const_blas_data_mapper<Scalar, Index, TriStorageOrder> rhs(_tri,triStride);
+    blas_data_mapper<Scalar, Index, ColMajor> lhs(_other,otherStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      RhsStorageOrder   = TriStorageOrder,
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower
+    };
+
+//     Index kc = std::min<Index>(Traits::Max_kc/4,size); // cache block size along the K direction
+//     Index mc = std::min<Index>(Traits::Max_mc,size);   // cache block size along the M direction
+    // check that !!!!
+    Index kc = size; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = rows;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*size;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
+    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    conj_if<Conjugate> conj;
+    gebp_kernel<Scalar,Scalar, Index, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+
+    for(Index k2=IsLower ? size : 0;
+        IsLower ? k2>0 : k2<size;
+        IsLower ? k2-=kc : k2+=kc)
+    {
+      const Index actual_kc = (std::min)(IsLower ? k2 : size-k2, kc);
+      Index actual_k2 = IsLower ? k2-actual_kc : k2 ;
+
+      Index startPanel = IsLower ? 0 : k2+actual_kc;
+      Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
+      Scalar* geb = blockB+actual_kc*actual_kc;
+
+      if (rs>0) pack_rhs(geb, &rhs(actual_k2,startPanel), triStride, actual_kc, rs);
+
+      // triangular packing (we only pack the panels off the diagonal,
+      // neglecting the blocks overlapping the diagonal
+      {
+        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+          Index actual_j2 = actual_k2 + j2;
+          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+
+          if (panelLength>0)
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         &rhs(actual_k2+panelOffset, actual_j2), triStride,
+                         panelLength, actualPanelWidth,
+                         actual_kc, panelOffset);
+        }
+      }
+
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = (std::min)(mc,rows-i2);
+
+        // triangular solver kernel
+        {
+          // for each small block of the diagonal (=> vertical panels of rhs)
+          for (Index j2 = IsLower
+                      ? (actual_kc - ((actual_kc%SmallPanelWidth) ? Index(actual_kc%SmallPanelWidth)
+                                                                  : Index(SmallPanelWidth)))
+                      : 0;
+               IsLower ? j2>=0 : j2<actual_kc;
+               IsLower ? j2-=SmallPanelWidth : j2+=SmallPanelWidth)
+          {
+            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+            Index absolute_j2 = actual_k2 + j2;
+            Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+            Index panelLength = IsLower ? actual_kc - j2 - actualPanelWidth : j2;
+
+            // GEBP
+            if(panelLength>0)
+            {
+              gebp_kernel(&lhs(i2,absolute_j2), otherStride,
+                          blockA, blockB+j2*actual_kc,
+                          actual_mc, panelLength, actualPanelWidth,
+                          Scalar(-1),
+                          actual_kc, actual_kc, // strides
+                          panelOffset, panelOffset, // offsets
+                          allocatedBlockB);  // workspace
+            }
+
+            // unblocked triangular solve
+            for (Index k=0; k<actualPanelWidth; ++k)
+            {
+              Index j = IsLower ? absolute_j2+actualPanelWidth-k-1 : absolute_j2+k;
+
+              Scalar* r = &lhs(i2,j);
+              for (Index k3=0; k3<k; ++k3)
+              {
+                Scalar b = conj(rhs(IsLower ? j+1+k3 : absolute_j2+k3,j));
+                Scalar* a = &lhs(i2,IsLower ? j+1+k3 : absolute_j2+k3);
+                for (Index i=0; i<actual_mc; ++i)
+                  r[i] -= a[i] * b;
+              }
+              Scalar b = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(rhs(j,j));
+              for (Index i=0; i<actual_mc; ++i)
+                r[i] *= b;
+            }
+
+            // pack the just computed part of lhs to A
+            pack_lhs_panel(blockA, _other+absolute_j2*otherStride+i2, otherStride,
+                           actualPanelWidth, actual_mc,
+                           actual_kc, j2);
+          }
+        }
+
+        if (rs>0)
+          gebp_kernel(_other+i2+startPanel*otherStride, otherStride, blockA, geb,
+                      actual_mc, actual_kc, rs, Scalar(-1),
+                      -1, -1, 0, 0, allocatedBlockB);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_H
diff --git a/extern/Eigen3/Eigen/src/Core/products/TriangularSolverVector.h b/extern/Eigen3/Eigen/src/Core/products/TriangularSolverVector.h
new file mode 100644
index 00000000000..639d4a5b476
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/products/TriangularSolverVector.h
@@ -0,0 +1,150 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+#define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+
+namespace internal {
+
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Conjugate, StorageOrder>
+{
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    triangular_solve_vector<LhsScalar,RhsScalar,Index,OnTheLeft,
+        ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+        Conjugate,StorageOrder==RowMajor?ColMajor:RowMajor
+      >::run(size, _lhs, lhsStride, rhs);
+  }
+};
+    
+// forward and backward substitution, row-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
+{
+  enum {
+    IsLower = ((Mode&Lower)==Lower)
+  };
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typename internal::conditional<
+                          Conjugate,
+                          const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+                          const LhsMap&>
+                        ::type cjLhs(lhs);
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+    for(Index pi=IsLower ? 0 : size;
+        IsLower ? pi<size : pi>0;
+        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+    {
+      Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
+
+      Index r = IsLower ? pi : size - pi; // remaining size
+      if (r > 0)
+      {
+        // let's directly call the low level product function because:
+        // 1 - it is faster to compile
+        // 2 - it is slighlty faster at runtime
+        Index startRow = IsLower ? pi : pi-actualPanelWidth;
+        Index startCol = IsLower ? 0 : pi;
+
+        general_matrix_vector_product<Index,LhsScalar,RowMajor,Conjugate,RhsScalar,false>::run(
+          actualPanelWidth, r,
+          &lhs.coeffRef(startRow,startCol), lhsStride,
+          rhs + startCol, 1,
+          rhs + startRow, 1,
+          RhsScalar(-1));
+      }
+
+      for(Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = IsLower ? pi+k : pi-k-1;
+        Index s = IsLower ? pi   : i+1;
+        if (k>0)
+          rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
+        
+        if(!(Mode & UnitDiag))
+          rhs[i] /= cjLhs(i,i);
+      }
+    }
+  }
+};
+
+// forward and backward substitution, column-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, ColMajor>
+{
+  enum {
+    IsLower = ((Mode&Lower)==Lower)
+  };
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typename internal::conditional<Conjugate,
+                                   const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+                                   const LhsMap&
+                                  >::type cjLhs(lhs);
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    for(Index pi=IsLower ? 0 : size;
+        IsLower ? pi<size : pi>0;
+        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+    {
+      Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
+      Index startBlock = IsLower ? pi : pi-actualPanelWidth;
+      Index endBlock = IsLower ? pi + actualPanelWidth : 0;
+
+      for(Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = IsLower ? pi+k : pi-k-1;
+        if(!(Mode & UnitDiag))
+          rhs[i] /= cjLhs.coeff(i,i);
+
+        Index r = actualPanelWidth - k - 1; // remaining size
+        Index s = IsLower ? i+1 : i-r;
+        if (r>0)
+          Map<Matrix<RhsScalar,Dynamic,1> >(rhs+s,r) -= rhs[i] * cjLhs.col(i).segment(s,r);
+      }
+      Index r = IsLower ? size - endBlock : startBlock; // remaining size
+      if (r > 0)
+      {
+        // let's directly call the low level product function because:
+        // 1 - it is faster to compile
+        // 2 - it is slighlty faster at runtime
+        general_matrix_vector_product<Index,LhsScalar,ColMajor,Conjugate,RhsScalar,false>::run(
+            r, actualPanelWidth,
+            &lhs.coeffRef(endBlock,startBlock), lhsStride,
+            rhs+startBlock, 1,
+            rhs+endBlock, 1, RhsScalar(-1));
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULAR_SOLVER_VECTOR_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/BlasUtil.h b/extern/Eigen3/Eigen/src/Core/util/BlasUtil.h
new file mode 100644
index 00000000000..f1d93d2f8b9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/BlasUtil.h
@@ -0,0 +1,271 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLASUTIL_H
+#define EIGEN_BLASUTIL_H
+
+// This file contains many lightweight helper classes used to
+// implement and control fast level 2 and level 3 BLAS-like routines.
+
+namespace internal {
+
+// forward declarations
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
+struct gebp_kernel;
+
+template<typename Scalar, typename Index, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
+struct gemm_pack_rhs;
+
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+struct gemm_pack_lhs;
+
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+  int ResStorageOrder>
+struct general_matrix_matrix_product;
+
+template<typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product;
+
+
+template<bool Conjugate> struct conj_if;
+
+template<> struct conj_if<true> {
+  template<typename T>
+  inline T operator()(const T& x) { return conj(x); }
+};
+
+template<> struct conj_if<false> {
+  template<typename T>
+  inline const T& operator()(const T& x) { return x; }
+};
+
+template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
+{
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) + imag(x)*imag(y), imag(x)*real(y) - real(x)*imag(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,false>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) + imag(x)*imag(y), real(x)*imag(y) - imag(x)*real(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,true>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) - imag(x)*imag(y), - real(x)*imag(y) - imag(x)*real(y)); }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<std::complex<RealScalar>, RealScalar, Conj,false>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const RealScalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const RealScalar& y) const
+  { return conj_if<Conj>()(x)*y; }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::complex<RealScalar>, false,Conj>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const RealScalar& x, const Scalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+  EIGEN_STRONG_INLINE Scalar pmul(const RealScalar& x, const Scalar& y) const
+  { return x*conj_if<Conj>()(y); }
+};
+
+template<typename From,typename To> struct get_factor {
+  EIGEN_STRONG_INLINE static To run(const From& x) { return x; }
+};
+
+template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
+  EIGEN_STRONG_INLINE static typename NumTraits<Scalar>::Real run(const Scalar& x) { return real(x); }
+};
+
+// Lightweight helper class to access matrix coefficients.
+// Yes, this is somehow redundant with Map<>, but this version is much much lighter,
+// and so I hope better compilation performance (time and code quality).
+template<typename Scalar, typename Index, int StorageOrder>
+class blas_data_mapper
+{
+  public:
+    blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+    EIGEN_STRONG_INLINE Scalar& operator()(Index i, Index j)
+    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  protected:
+    Scalar* EIGEN_RESTRICT m_data;
+    Index m_stride;
+};
+
+// lightweight helper class to access matrix coefficients (const version)
+template<typename Scalar, typename Index, int StorageOrder>
+class const_blas_data_mapper
+{
+  public:
+    const_blas_data_mapper(const Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+    EIGEN_STRONG_INLINE const Scalar& operator()(Index i, Index j) const
+    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  protected:
+    const Scalar* EIGEN_RESTRICT m_data;
+    Index m_stride;
+};
+
+
+/* Helper class to analyze the factors of a Product expression.
+ * In particular it allows to pop out operator-, scalar multiples,
+ * and conjugate */
+template<typename XprType> struct blas_traits
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef const XprType& ExtractType;
+  typedef XprType _ExtractType;
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    IsTransposed = false,
+    NeedToConjugate = false,
+    HasUsableDirectAccess = (    (int(XprType::Flags)&DirectAccessBit)
+                              && (   bool(XprType::IsVectorAtCompileTime)
+                                  || int(inner_stride_at_compile_time<XprType>::ret) == 1)
+                             ) ?  1 : 0
+  };
+  typedef typename conditional<bool(HasUsableDirectAccess),
+    ExtractType,
+    typename _ExtractType::PlainObject
+    >::type DirectLinearAccessType;
+  static inline const ExtractType extract(const XprType& x) { return x; }
+  static inline const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
+};
+
+// pop conjugate
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    NeedToConjugate = Base::NeedToConjugate ? 0 : IsComplex
+  };
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x) { return conj(Base::extractScalarFactor(x.nestedExpression())); }
+};
+
+// pop scalar multiple
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return x.functor().m_other * Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+// pop opposite
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return - Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+// pop/push transpose
+template<typename NestedXpr>
+struct blas_traits<Transpose<NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef typename NestedXpr::Scalar Scalar;
+  typedef blas_traits<NestedXpr> Base;
+  typedef Transpose<NestedXpr> XprType;
+  typedef Transpose<const typename Base::_ExtractType>  ExtractType; // const to get rid of a compile error; anyway blas traits are only used on the RHS
+  typedef Transpose<const typename Base::_ExtractType> _ExtractType;
+  typedef typename conditional<bool(Base::HasUsableDirectAccess),
+    ExtractType,
+    typename ExtractType::PlainObject
+    >::type DirectLinearAccessType;
+  enum {
+    IsTransposed = Base::IsTransposed ? 0 : 1
+  };
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+template<typename T>
+struct blas_traits<const T>
+     : blas_traits<T>
+{};
+
+template<typename T, bool HasUsableDirectAccess=blas_traits<T>::HasUsableDirectAccess>
+struct extract_data_selector {
+  static const typename T::Scalar* run(const T& m)
+  {
+    return const_cast<typename T::Scalar*>(&blas_traits<T>::extract(m).coeffRef(0,0)); // FIXME this should be .data()
+  }
+};
+
+template<typename T>
+struct extract_data_selector<T,false> {
+  static typename T::Scalar* run(const T&) { return 0; }
+};
+
+template<typename T> const typename T::Scalar* extract_data(const T& m)
+{
+  return extract_data_selector<T>::run(m);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_BLASUTIL_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/Constants.h b/extern/Eigen3/Eigen/src/Core/util/Constants.h
new file mode 100644
index 00000000000..c3dd3a09d00
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/Constants.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CONSTANTS_H
+#define EIGEN_CONSTANTS_H
+
+/** This value means that a quantity is not known at compile-time, and that instead the value is
+  * stored in some runtime variable.
+  *
+  * Changing the value of Dynamic breaks the ABI, as Dynamic is often used as a template parameter for Matrix.
+  */
+const int Dynamic = -1;
+
+/** This value means +Infinity; it is currently used only as the p parameter to MatrixBase::lpNorm<int>().
+  * The value Infinity there means the L-infinity norm.
+  */
+const int Infinity = -1;
+
+/** \defgroup flags Flags
+  * \ingroup Core_Module
+  *
+  * These are the possible bits which can be OR'ed to constitute the flags of a matrix or
+  * expression.
+  *
+  * It is important to note that these flags are a purely compile-time notion. They are a compile-time property of
+  * an expression type, implemented as enum's. They are not stored in memory at runtime, and they do not incur any
+  * runtime overhead.
+  *
+  * \sa MatrixBase::Flags
+  */
+
+/** \ingroup flags
+  *
+  * for a matrix, this means that the storage order is row-major.
+  * If this bit is not set, the storage order is column-major.
+  * For an expression, this determines the storage order of
+  * the matrix created by evaluation of that expression. 
+  * \sa \ref TopicStorageOrders */
+const unsigned int RowMajorBit = 0x1;
+
+/** \ingroup flags
+  *
+  * means the expression should be evaluated by the calling expression */
+const unsigned int EvalBeforeNestingBit = 0x2;
+
+/** \ingroup flags
+  *
+  * means the expression should be evaluated before any assignment */
+const unsigned int EvalBeforeAssigningBit = 0x4;
+
+/** \ingroup flags
+  *
+  * Short version: means the expression might be vectorized
+  *
+  * Long version: means that the coefficients can be handled by packets
+  * and start at a memory location whose alignment meets the requirements
+  * of the present CPU architecture for optimized packet access. In the fixed-size
+  * case, there is the additional condition that it be possible to access all the
+  * coefficients by packets (this implies the requirement that the size be a multiple of 16 bytes,
+  * and that any nontrivial strides don't break the alignment). In the dynamic-size case,
+  * there is no such condition on the total size and strides, so it might not be possible to access
+  * all coeffs by packets.
+  *
+  * \note This bit can be set regardless of whether vectorization is actually enabled.
+  *       To check for actual vectorizability, see \a ActualPacketAccessBit.
+  */
+const unsigned int PacketAccessBit = 0x8;
+
+#ifdef EIGEN_VECTORIZE
+/** \ingroup flags
+  *
+  * If vectorization is enabled (EIGEN_VECTORIZE is defined) this constant
+  * is set to the value \a PacketAccessBit.
+  *
+  * If vectorization is not enabled (EIGEN_VECTORIZE is not defined) this constant
+  * is set to the value 0.
+  */
+const unsigned int ActualPacketAccessBit = PacketAccessBit;
+#else
+const unsigned int ActualPacketAccessBit = 0x0;
+#endif
+
+/** \ingroup flags
+  *
+  * Short version: means the expression can be seen as 1D vector.
+  *
+  * Long version: means that one can access the coefficients
+  * of this expression by coeff(int), and coeffRef(int) in the case of a lvalue expression. These
+  * index-based access methods are guaranteed
+  * to not have to do any runtime computation of a (row, col)-pair from the index, so that it
+  * is guaranteed that whenever it is available, index-based access is at least as fast as
+  * (row,col)-based access. Expressions for which that isn't possible don't have the LinearAccessBit.
+  *
+  * If both PacketAccessBit and LinearAccessBit are set, then the
+  * packets of this expression can be accessed by packet(int), and writePacket(int) in the case of a
+  * lvalue expression.
+  *
+  * Typically, all vector expressions have the LinearAccessBit, but there is one exception:
+  * Product expressions don't have it, because it would be troublesome for vectorization, even when the
+  * Product is a vector expression. Thus, vector Product expressions allow index-based coefficient access but
+  * not index-based packet access, so they don't have the LinearAccessBit.
+  */
+const unsigned int LinearAccessBit = 0x10;
+
+/** \ingroup flags
+  *
+  * Means the expression has a coeffRef() method, i.e. is writable as its individual coefficients are directly addressable.
+  * This rules out read-only expressions.
+  *
+  * Note that DirectAccessBit and LvalueBit are mutually orthogonal, as there are examples of expression having one but note
+  * the other:
+  *   \li writable expressions that don't have a very simple memory layout as a strided array, have LvalueBit but not DirectAccessBit
+  *   \li Map-to-const expressions, for example Map<const Matrix>, have DirectAccessBit but not LvalueBit
+  *
+  * Expressions having LvalueBit also have their coeff() method returning a const reference instead of returning a new value.
+  */
+const unsigned int LvalueBit = 0x20;
+
+/** \ingroup flags
+  *
+  * Means that the underlying array of coefficients can be directly accessed as a plain strided array. The memory layout
+  * of the array of coefficients must be exactly the natural one suggested by rows(), cols(),
+  * outerStride(), innerStride(), and the RowMajorBit. This rules out expressions such as Diagonal, whose coefficients,
+  * though referencable, do not have such a regular memory layout.
+  *
+  * See the comment on LvalueBit for an explanation of how LvalueBit and DirectAccessBit are mutually orthogonal.
+  */
+const unsigned int DirectAccessBit = 0x40;
+
+/** \ingroup flags
+  *
+  * means the first coefficient packet is guaranteed to be aligned */
+const unsigned int AlignedBit = 0x80;
+
+const unsigned int NestByRefBit = 0x100;
+
+// list of flags that are inherited by default
+const unsigned int HereditaryBits = RowMajorBit
+                                  | EvalBeforeNestingBit
+                                  | EvalBeforeAssigningBit;
+
+/** \defgroup enums Enumerations
+  * \ingroup Core_Module
+  *
+  * Various enumerations used in %Eigen. Many of these are used as template parameters.
+  */
+
+/** \ingroup enums
+  * Enum containing possible values for the \p Mode parameter of 
+  * MatrixBase::selfadjointView() and MatrixBase::triangularView(). */
+enum {
+  /** View matrix as a lower triangular matrix. */
+  Lower=0x1,                      
+  /** View matrix as an upper triangular matrix. */
+  Upper=0x2,                      
+  /** %Matrix has ones on the diagonal; to be used in combination with #Lower or #Upper. */
+  UnitDiag=0x4, 
+  /** %Matrix has zeros on the diagonal; to be used in combination with #Lower or #Upper. */
+  ZeroDiag=0x8,
+  /** View matrix as a lower triangular matrix with ones on the diagonal. */
+  UnitLower=UnitDiag|Lower, 
+  /** View matrix as an upper triangular matrix with ones on the diagonal. */
+  UnitUpper=UnitDiag|Upper,
+  /** View matrix as a lower triangular matrix with zeros on the diagonal. */
+  StrictlyLower=ZeroDiag|Lower, 
+  /** View matrix as an upper triangular matrix with zeros on the diagonal. */
+  StrictlyUpper=ZeroDiag|Upper,
+  /** Used in BandMatrix and SelfAdjointView to indicate that the matrix is self-adjoint. */
+  SelfAdjoint=0x10
+};
+
+/** \ingroup enums
+  * Enum for indicating whether an object is aligned or not. */
+enum { 
+  /** Object is not correctly aligned for vectorization. */
+  Unaligned=0, 
+  /** Object is aligned for vectorization. */
+  Aligned=1 
+};
+
+enum { ConditionalJumpCost = 5 };
+
+/** \ingroup enums
+ * Enum used by DenseBase::corner() in Eigen2 compatibility mode. */
+// FIXME after the corner() API change, this was not needed anymore, except by AlignedBox
+// TODO: find out what to do with that. Adapt the AlignedBox API ?
+enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
+
+/** \ingroup enums
+  * Enum containing possible values for the \p Direction parameter of
+  * Reverse, PartialReduxExpr and VectorwiseOp. */
+enum DirectionType { 
+  /** For Reverse, all columns are reversed; 
+    * for PartialReduxExpr and VectorwiseOp, act on columns. */
+  Vertical, 
+  /** For Reverse, all rows are reversed; 
+    * for PartialReduxExpr and VectorwiseOp, act on rows. */
+  Horizontal, 
+  /** For Reverse, both rows and columns are reversed; 
+    * not used for PartialReduxExpr and VectorwiseOp. */
+  BothDirections 
+};
+
+enum ProductEvaluationMode { NormalProduct, CacheFriendlyProduct };
+
+/** \internal \ingroup enums
+  * Enum to specify how to traverse the entries of a matrix. */
+enum {
+  /** \internal Default traversal, no vectorization, no index-based access */
+  DefaultTraversal,
+  /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
+  LinearTraversal,
+  /** \internal Equivalent to a slice vectorization for fixed-size matrices having good alignment
+    * and good size */
+  InnerVectorizedTraversal,
+  /** \internal Vectorization path using a single loop plus scalar loops for the
+    * unaligned boundaries */
+  LinearVectorizedTraversal,
+  /** \internal Generic vectorization path using one vectorized loop per row/column with some
+    * scalar loops to handle the unaligned boundaries */
+  SliceVectorizedTraversal,
+  /** \internal Special case to properly handle incompatible scalar types or other defecting cases*/
+  InvalidTraversal
+};
+
+/** \internal \ingroup enums
+  * Enum to specify whether to unroll loops when traversing over the entries of a matrix. */
+enum {
+  /** \internal Do not unroll loops. */
+  NoUnrolling,
+  /** \internal Unroll only the inner loop, but not the outer loop. */
+  InnerUnrolling,
+  /** \internal Unroll both the inner and the outer loop. If there is only one loop, 
+    * because linear traversal is used, then unroll that loop. */
+  CompleteUnrolling
+};
+
+/** \ingroup enums
+  * Enum containing possible values for the \p _Options template parameter of
+  * Matrix, Array and BandMatrix. */
+enum {
+  /** Storage order is column major (see \ref TopicStorageOrders). */
+  ColMajor = 0,
+  /** Storage order is row major (see \ref TopicStorageOrders). */
+  RowMajor = 0x1,  // it is only a coincidence that this is equal to RowMajorBit -- don't rely on that
+  /** \internal Align the matrix itself if it is vectorizable fixed-size */
+  AutoAlign = 0,
+  /** \internal Don't require alignment for the matrix itself (the array of coefficients, if dynamically allocated, may still be requested to be aligned) */ // FIXME --- clarify the situation
+  DontAlign = 0x2
+};
+
+/** \ingroup enums
+  * Enum for specifying whether to apply or solve on the left or right. */
+enum {
+  /** Apply transformation on the left. */
+  OnTheLeft = 1,  
+  /** Apply transformation on the right. */
+  OnTheRight = 2  
+};
+
+/* the following could as well be written:
+ *   enum NoChange_t { NoChange };
+ * but it feels dangerous to disambiguate overloaded functions on enum/integer types.
+ * If on some platform it is really impossible to get rid of "unused variable" warnings, then
+ * we can always come back to that solution.
+ */
+struct NoChange_t {};
+namespace {
+  EIGEN_UNUSED NoChange_t NoChange;
+}
+
+struct Sequential_t {};
+namespace {
+  EIGEN_UNUSED Sequential_t Sequential;
+}
+
+struct Default_t {};
+namespace {
+  EIGEN_UNUSED Default_t Default;
+}
+
+/** \internal \ingroup enums
+  * Used in AmbiVector. */
+enum {
+  IsDense         = 0,
+  IsSparse
+};
+
+/** \ingroup enums
+  * Used as template parameter in DenseCoeffBase and MapBase to indicate 
+  * which accessors should be provided. */
+enum AccessorLevels {
+  /** Read-only access via a member function. */
+  ReadOnlyAccessors, 
+  /** Read/write access via member functions. */
+  WriteAccessors, 
+  /** Direct read-only access to the coefficients. */
+  DirectAccessors, 
+  /** Direct read/write access to the coefficients. */
+  DirectWriteAccessors
+};
+
+/** \ingroup enums
+  * Enum with options to give to various decompositions. */
+enum DecompositionOptions {
+  /** \internal Not used (meant for LDLT?). */
+  Pivoting            = 0x01, 
+  /** \internal Not used (meant for LDLT?). */
+  NoPivoting          = 0x02, 
+  /** Used in JacobiSVD to indicate that the square matrix U is to be computed. */
+  ComputeFullU        = 0x04,
+  /** Used in JacobiSVD to indicate that the thin matrix U is to be computed. */
+  ComputeThinU        = 0x08,
+  /** Used in JacobiSVD to indicate that the square matrix V is to be computed. */
+  ComputeFullV        = 0x10,
+  /** Used in JacobiSVD to indicate that the thin matrix V is to be computed. */
+  ComputeThinV        = 0x20,
+  /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
+    * that only the eigenvalues are to be computed and not the eigenvectors. */
+  EigenvaluesOnly     = 0x40,
+  /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
+    * that both the eigenvalues and the eigenvectors are to be computed. */
+  ComputeEigenvectors = 0x80,
+  /** \internal */
+  EigVecMask = EigenvaluesOnly | ComputeEigenvectors,
+  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+    * solve the generalized eigenproblem \f$ Ax = \lambda B x \f$. */
+  Ax_lBx              = 0x100,
+  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+    * solve the generalized eigenproblem \f$ ABx = \lambda x \f$. */
+  ABx_lx              = 0x200,
+  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+    * solve the generalized eigenproblem \f$ BAx = \lambda x \f$. */
+  BAx_lx              = 0x400,
+  /** \internal */
+  GenEigMask = Ax_lBx | ABx_lx | BAx_lx
+};
+
+/** \ingroup enums
+  * Possible values for the \p QRPreconditioner template parameter of JacobiSVD. */
+enum QRPreconditioners {
+  /** Do not specify what is to be done if the SVD of a non-square matrix is asked for. */
+  NoQRPreconditioner,
+  /** Use a QR decomposition without pivoting as the first step. */
+  HouseholderQRPreconditioner,
+  /** Use a QR decomposition with column pivoting as the first step. */
+  ColPivHouseholderQRPreconditioner,
+  /** Use a QR decomposition with full pivoting as the first step. */
+  FullPivHouseholderQRPreconditioner
+};
+
+#ifdef Success
+#error The preprocessor symbol 'Success' is defined, possibly by the X11 header file X.h
+#endif
+
+/** \ingroups enums
+  * Enum for reporting the status of a computation. */
+enum ComputationInfo {
+  /** Computation was successful. */
+  Success = 0,        
+  /** The provided data did not satisfy the prerequisites. */
+  NumericalIssue = 1, 
+  /** Iterative procedure did not converge. */
+  NoConvergence = 2
+};
+
+/** \ingroup enums
+  * Enum used to specify how a particular transformation is stored in a matrix.
+  * \sa Transform, Hyperplane::transform(). */
+enum TransformTraits {
+  /** Transformation is an isometry. */
+  Isometry      = 0x1,
+  /** Transformation is an affine transformation stored as a (Dim+1)^2 matrix whose last row is 
+    * assumed to be [0 ... 0 1]. */
+  Affine        = 0x2,
+  /** Transformation is an affine transformation stored as a (Dim) x (Dim+1) matrix. */
+  AffineCompact = 0x10 | Affine,
+  /** Transformation is a general projective transformation stored as a (Dim+1)^2 matrix. */
+  Projective    = 0x20
+};
+
+/** \internal \ingroup enums
+  * Enum used to choose between implementation depending on the computer architecture. */
+namespace Architecture
+{
+  enum Type {
+    Generic = 0x0,
+    SSE = 0x1,
+    AltiVec = 0x2,
+#if defined EIGEN_VECTORIZE_SSE
+    Target = SSE
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+    Target = AltiVec
+#else
+    Target = Generic
+#endif
+  };
+}
+
+/** \internal \ingroup enums
+  * Enum used as template parameter in GeneralProduct. */
+enum { CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
+
+/** \internal \ingroup enums
+  * Enum used in experimental parallel implementation. */
+enum Action {GetAction, SetAction};
+
+/** The type used to identify a dense storage. */
+struct Dense {};
+
+/** The type used to identify a matrix expression */
+struct MatrixXpr {};
+
+/** The type used to identify an array expression */
+struct ArrayXpr {};
+
+#endif // EIGEN_CONSTANTS_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/DisableStupidWarnings.h b/extern/Eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
new file mode 100644
index 00000000000..00730524b26
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -0,0 +1,42 @@
+#ifndef EIGEN_WARNINGS_DISABLED
+#define EIGEN_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+  // 4100 - unreferenced formal parameter (occurred e.g. in aligned_allocator::destroy(pointer p))
+  // 4101 - unreferenced local variable
+  // 4127 - conditional expression is constant
+  // 4181 - qualifier applied to reference type ignored
+  // 4211 - nonstandard extension used : redefined extern to static
+  // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
+  // 4273 - QtAlignedMalloc, inconsistent DLL linkage
+  // 4324 - structure was padded due to declspec(align())
+  // 4512 - assignment operator could not be generated
+  // 4522 - 'class' : multiple assignment operators specified
+  // 4700 - uninitialized local variable 'xyz' used
+  // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma warning( push )
+  #endif
+  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4512 4522 4700 4717 )
+#elif defined __INTEL_COMPILER
+  // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
+  //        ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
+  // 2536 - type qualifiers are meaningless here
+  //        ICC 12 generates this warning when a function return type is const qualified, even if that type is a template-parameter-dependent
+  //        typedef that may be a reference type.
+  // 279  - controlling expression is constant
+  //        ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma warning push
+  #endif
+  #pragma warning disable 2196 2536 279
+#elif defined __clang__
+  // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
+  //     this is really a stupid warning as it warns on compile-time expressions involving enums
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma clang diagnostic push
+  #endif
+  #pragma clang diagnostic ignored "-Wconstant-logical-operand"
+#endif
+
+#endif // not EIGEN_WARNINGS_DISABLED
diff --git a/extern/Eigen3/Eigen/src/Core/util/ForwardDeclarations.h b/extern/Eigen3/Eigen/src/Core/util/ForwardDeclarations.h
new file mode 100644
index 00000000000..7fbccf98c2b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/ForwardDeclarations.h
@@ -0,0 +1,307 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FORWARDDECLARATIONS_H
+#define EIGEN_FORWARDDECLARATIONS_H
+
+namespace internal {
+
+template<typename T> struct traits;
+
+// here we say once and for all that traits<const T> == traits<T>
+// When constness must affect traits, it has to be constness on template parameters on which T itself depends.
+// For example, traits<Map<const T> > != traits<Map<T> >, but
+//              traits<const Map<T> > == traits<Map<T> >
+template<typename T> struct traits<const T> : traits<T> {};
+
+template<typename Derived> struct has_direct_access
+{
+  enum { ret = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0 };
+};
+
+template<typename Derived> struct accessors_level
+{
+  enum { has_direct_access = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0,
+         has_write_access = (traits<Derived>::Flags & LvalueBit) ? 1 : 0,
+         value = has_direct_access ? (has_write_access ? DirectWriteAccessors : DirectAccessors)
+                                   : (has_write_access ? WriteAccessors       : ReadOnlyAccessors)
+  };
+};
+
+} // end namespace internal
+
+template<typename T> struct NumTraits;
+
+template<typename Derived> struct EigenBase;
+template<typename Derived> class DenseBase;
+template<typename Derived> class PlainObjectBase;
+
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::value >
+class DenseCoeffsBase;
+
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+    // workaround a bug in at least gcc 3.4.6
+    // the innermost ?: ternary operator is misparsed. We write it slightly
+    // differently and this makes gcc 3.4.6 happy, but it's ugly.
+    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+                          : ColMajor ),
+#else
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+         int _MaxRows = _Rows,
+         int _MaxCols = _Cols
+> class Matrix;
+
+template<typename Derived> class MatrixBase;
+template<typename Derived> class ArrayBase;
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged;
+template<typename ExpressionType, template <typename> class StorageBase > class NoAlias;
+template<typename ExpressionType> class NestByValue;
+template<typename ExpressionType> class ForceAlignedAccess;
+template<typename ExpressionType> class SwapWrapper;
+
+template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
+         bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class Block;
+
+template<typename MatrixType, int Size=Dynamic> class VectorBlock;
+template<typename MatrixType> class Transpose;
+template<typename MatrixType> class Conjugate;
+template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
+template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
+template<typename ViewOp,    typename MatrixType>         class CwiseUnaryView;
+template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
+template<typename BinOp,     typename Lhs, typename Rhs>  class SelfCwiseBinaryOp;
+template<typename Derived,   typename Lhs, typename Rhs>  class ProductBase;
+template<typename Lhs, typename Rhs, int Mode>            class GeneralProduct;
+template<typename Lhs, typename Rhs, int NestingFlags>    class CoeffBasedProduct;
+
+template<typename Derived> class DiagonalBase;
+template<typename _DiagonalVectorType> class DiagonalWrapper;
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime=SizeAtCompileTime> class DiagonalMatrix;
+template<typename MatrixType, typename DiagonalType, int ProductOrder> class DiagonalProduct;
+template<typename MatrixType, int Index = 0> class Diagonal;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class PermutationMatrix;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class Transpositions;
+template<typename Derived> class PermutationBase;
+template<typename Derived> class TranspositionsBase;
+template<typename _IndicesType> class PermutationWrapper;
+template<typename _IndicesType> class TranspositionsWrapper;
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
+> class MapBase;
+template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
+template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
+
+template<typename Derived> class TriangularBase;
+template<typename MatrixType, unsigned int Mode> class TriangularView;
+template<typename MatrixType, unsigned int Mode> class SelfAdjointView;
+template<typename MatrixType> class SparseView;
+template<typename ExpressionType> class WithFormat;
+template<typename MatrixType> struct CommaInitializer;
+template<typename Derived> class ReturnByValue;
+template<typename ExpressionType> class ArrayWrapper;
+
+namespace internal {
+template<typename DecompositionType, typename Rhs> struct solve_retval_base;
+template<typename DecompositionType, typename Rhs> struct solve_retval;
+template<typename DecompositionType> struct kernel_retval_base;
+template<typename DecompositionType> struct kernel_retval;
+template<typename DecompositionType> struct image_retval_base;
+template<typename DecompositionType> struct image_retval;
+} // end namespace internal
+
+namespace internal {
+template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynamic, int Subs=Dynamic, int Options=0> class BandMatrix;
+}
+
+namespace internal {
+template<typename Lhs, typename Rhs> struct product_type;
+}
+
+template<typename Lhs, typename Rhs,
+         int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct ProductReturnType;
+
+// this is a workaround for sun CC
+template<typename Lhs, typename Rhs> struct LazyProductReturnType;
+
+namespace internal {
+
+// Provides scalar/packet-wise product and product with accumulation
+// with optional conjugation of the arguments.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
+
+template<typename Scalar> struct scalar_sum_op;
+template<typename Scalar> struct scalar_difference_op;
+template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op;
+template<typename Scalar> struct scalar_quotient_op;
+template<typename Scalar> struct scalar_opposite_op;
+template<typename Scalar> struct scalar_conjugate_op;
+template<typename Scalar> struct scalar_real_op;
+template<typename Scalar> struct scalar_imag_op;
+template<typename Scalar> struct scalar_abs_op;
+template<typename Scalar> struct scalar_abs2_op;
+template<typename Scalar> struct scalar_sqrt_op;
+template<typename Scalar> struct scalar_exp_op;
+template<typename Scalar> struct scalar_log_op;
+template<typename Scalar> struct scalar_cos_op;
+template<typename Scalar> struct scalar_sin_op;
+template<typename Scalar> struct scalar_acos_op;
+template<typename Scalar> struct scalar_asin_op;
+template<typename Scalar> struct scalar_tan_op;
+template<typename Scalar> struct scalar_pow_op;
+template<typename Scalar> struct scalar_inverse_op;
+template<typename Scalar> struct scalar_square_op;
+template<typename Scalar> struct scalar_cube_op;
+template<typename Scalar, typename NewType> struct scalar_cast_op;
+template<typename Scalar> struct scalar_multiple_op;
+template<typename Scalar> struct scalar_quotient1_op;
+template<typename Scalar> struct scalar_min_op;
+template<typename Scalar> struct scalar_max_op;
+template<typename Scalar> struct scalar_random_op;
+template<typename Scalar> struct scalar_add_op;
+template<typename Scalar> struct scalar_constant_op;
+template<typename Scalar> struct scalar_identity_op;
+
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
+template<typename LhsScalar,typename RhsScalar> struct scalar_multiple2_op;
+
+} // end namespace internal
+
+struct IOFormat;
+
+// Array module
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+    // workaround a bug in at least gcc 3.4.6
+    // the innermost ?: ternary operator is misparsed. We write it slightly
+    // differently and this makes gcc 3.4.6 happy, but it's ugly.
+    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+                          : ColMajor ),
+#else
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+         int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType> class Select;
+template<typename MatrixType, typename BinaryOp, int Direction> class PartialReduxExpr;
+template<typename ExpressionType, int Direction> class VectorwiseOp;
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate;
+template<typename MatrixType, int Direction = BothDirections> class Reverse;
+
+template<typename MatrixType> class FullPivLU;
+template<typename MatrixType> class PartialPivLU;
+namespace internal {
+template<typename MatrixType> struct inverse_impl;
+}
+template<typename MatrixType> class HouseholderQR;
+template<typename MatrixType> class ColPivHouseholderQR;
+template<typename MatrixType> class FullPivHouseholderQR;
+template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
+template<typename MatrixType, int UpLo = Lower> class LLT;
+template<typename MatrixType, int UpLo = Lower> class LDLT;
+template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
+template<typename Scalar>     class JacobiRotation;
+
+// Geometry module:
+template<typename Derived, int _Dim> class RotationBase;
+template<typename Lhs, typename Rhs> class Cross;
+template<typename Derived> class QuaternionBase;
+template<typename Scalar> class Rotation2D;
+template<typename Scalar> class AngleAxis;
+template<typename Scalar,int Dim> class Translation;
+
+#ifdef EIGEN2_SUPPORT
+template<typename Derived, int _Dim> class eigen2_RotationBase;
+template<typename Lhs, typename Rhs> class eigen2_Cross;
+template<typename Scalar> class eigen2_Quaternion;
+template<typename Scalar> class eigen2_Rotation2D;
+template<typename Scalar> class eigen2_AngleAxis;
+template<typename Scalar,int Dim> class eigen2_Transform;
+template <typename _Scalar, int _AmbientDim> class eigen2_ParametrizedLine;
+template <typename _Scalar, int _AmbientDim> class eigen2_Hyperplane;
+template<typename Scalar,int Dim> class eigen2_Translation;
+template<typename Scalar,int Dim> class eigen2_Scaling;
+#endif
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar> class Quaternion;
+template<typename Scalar,int Dim> class Transform;
+template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
+template <typename _Scalar, int _AmbientDim> class Hyperplane;
+template<typename Scalar,int Dim> class Scaling;
+#endif
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar, int Options = AutoAlign> class Quaternion;
+template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
+template<typename Scalar> class UniformScaling;
+template<typename MatrixType,int Direction> class Homogeneous;
+#endif
+
+// MatrixFunctions module
+template<typename Derived> struct MatrixExponentialReturnValue;
+template<typename Derived> class MatrixFunctionReturnValue;
+
+namespace internal {
+template <typename Scalar>
+struct stem_function
+{
+  typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+  typedef ComplexScalar type(ComplexScalar, int);
+};
+}
+
+
+#ifdef EIGEN2_SUPPORT
+template<typename ExpressionType> class Cwise;
+template<typename MatrixType> class Minor;
+template<typename MatrixType> class LU;
+template<typename MatrixType> class QR;
+template<typename MatrixType> class SVD;
+namespace internal {
+template<typename MatrixType, unsigned int Mode> struct eigen2_part_return_type;
+}
+#endif
+
+#endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/Macros.h b/extern/Eigen3/Eigen/src/Core/util/Macros.h
new file mode 100644
index 00000000000..6c3f1e421f0
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/Macros.h
@@ -0,0 +1,418 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MACROS_H
+#define EIGEN_MACROS_H
+
+#define EIGEN_WORLD_VERSION 3
+#define EIGEN_MAJOR_VERSION 0
+#define EIGEN_MINOR_VERSION 2
+
+#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
+                                      (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
+                                                                 EIGEN_MINOR_VERSION>=z))))
+#ifdef __GNUC__
+  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
+#else
+  #define EIGEN_GNUC_AT_LEAST(x,y) 0
+#endif
+ 
+#ifdef __GNUC__
+  #define EIGEN_GNUC_AT_MOST(x,y) ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
+#else
+  #define EIGEN_GNUC_AT_MOST(x,y) 0
+#endif
+
+#if EIGEN_GNUC_AT_MOST(4,3)
+  // see bug 89
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
+#else
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
+#endif
+
+#if defined(__GNUC__) && (__GNUC__ <= 3)
+#define EIGEN_GCC3_OR_OLDER 1
+#else
+#define EIGEN_GCC3_OR_OLDER 0
+#endif
+
+// 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
+// 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
+// enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
+// certain common platform (compiler+architecture combinations) to avoid these problems.
+// Only static alignment is really problematic (relies on nonstandard compiler extensions that don't
+// work everywhere, for example don't work on GCC/ARM), try to keep heap alignment even
+// when we have to disable static alignment.
+#if defined(__GNUC__) && !(defined(__i386__) || defined(__x86_64__) || defined(__powerpc__) || defined(__ppc__) || defined(__ia64__))
+#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+#else
+#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+#endif
+
+// static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
+#if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
+ && !EIGEN_GCC3_OR_OLDER \
+ && !defined(__SUNPRO_CC) \
+ && !defined(__QNXNTO__)
+  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+#else
+  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+  #ifndef EIGEN_DONT_ALIGN_STATICALLY
+    #define EIGEN_DONT_ALIGN_STATICALLY
+  #endif
+  #define EIGEN_ALIGN 0
+#else
+  #define EIGEN_ALIGN 1
+#endif
+
+// EIGEN_ALIGN_STATICALLY is the true test whether we want to align arrays on the stack or not. It takes into account both the user choice to explicitly disable
+// alignment (EIGEN_DONT_ALIGN_STATICALLY) and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT). Henceforth, only EIGEN_ALIGN_STATICALLY should be used.
+#if EIGEN_ARCH_WANTS_STACK_ALIGNMENT && !defined(EIGEN_DONT_ALIGN_STATICALLY)
+  #define EIGEN_ALIGN_STATICALLY 1
+#else
+  #define EIGEN_ALIGN_STATICALLY 0
+  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+  #endif
+#endif
+
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
+#else
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ColMajor
+#endif
+
+#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#endif
+
+/** Allows to disable some optimizations which might affect the accuracy of the result.
+  * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
+  * They currently include:
+  *   - single precision Cwise::sin() and Cwise::cos() when SSE vectorization is enabled.
+  */
+#ifndef EIGEN_FAST_MATH
+#define EIGEN_FAST_MATH 1
+#endif
+
+#define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
+
+// concatenate two tokens
+#define EIGEN_CAT2(a,b) a ## b
+#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
+
+// convert a token to a string
+#define EIGEN_MAKESTRING2(a) #a
+#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
+
+// EIGEN_ALWAYS_INLINE_ATTRIB should be use in the declaration of function
+// which should be inlined even in debug mode.
+// FIXME with the always_inline attribute,
+// gcc 3.4.x reports the following compilation error:
+//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
+//    : function body not available
+#if EIGEN_GNUC_AT_LEAST(4,0)
+#define EIGEN_ALWAYS_INLINE_ATTRIB __attribute__((always_inline))
+#else
+#define EIGEN_ALWAYS_INLINE_ATTRIB
+#endif
+
+#if EIGEN_GNUC_AT_LEAST(4,1) && !defined(__clang__) && !defined(__INTEL_COMPILER)
+#define EIGEN_FLATTEN_ATTRIB __attribute__((flatten))
+#else
+#define EIGEN_FLATTEN_ATTRIB
+#endif
+
+// EIGEN_FORCE_INLINE means "inline as much as possible"
+#if (defined _MSC_VER) || (defined __INTEL_COMPILER)
+#define EIGEN_STRONG_INLINE __forceinline
+#else
+#define EIGEN_STRONG_INLINE inline
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_DONT_INLINE __attribute__((noinline))
+#elif (defined _MSC_VER)
+#define EIGEN_DONT_INLINE __declspec(noinline)
+#else
+#define EIGEN_DONT_INLINE
+#endif
+
+// this macro allows to get rid of linking errors about multiply defined functions.
+//  - static is not very good because it prevents definitions from different object files to be merged.
+//           So static causes the resulting linked executable to be bloated with multiple copies of the same function.
+//  - inline is not perfect either as it unwantedly hints the compiler toward inlining the function.
+#define EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+#define EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS inline
+
+#ifdef NDEBUG
+# ifndef EIGEN_NO_DEBUG
+#  define EIGEN_NO_DEBUG
+# endif
+#endif
+
+// eigen_plain_assert is where we implement the workaround for the assert() bug in GCC <= 4.3, see bug 89
+#ifdef EIGEN_NO_DEBUG
+  #define eigen_plain_assert(x)
+#else
+  #if EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO
+    namespace Eigen {
+    namespace internal {
+    inline bool copy_bool(bool b) { return b; }
+    }
+    }
+    #define eigen_plain_assert(x) assert(x)
+  #else
+    // work around bug 89
+    #include <cstdlib>   // for abort
+    #include <iostream>  // for std::cerr
+
+    namespace Eigen {
+    namespace internal {
+    // trivial function copying a bool. Must be EIGEN_DONT_INLINE, so we implement it after including Eigen headers.
+    // see bug 89.
+    namespace {
+    EIGEN_DONT_INLINE bool copy_bool(bool b) { return b; }
+    }
+    inline void assert_fail(const char *condition, const char *function, const char *file, int line)
+    {
+      std::cerr << "assertion failed: " << condition << " in function " << function << " at " << file << ":" << line << std::endl;
+      abort();
+    }
+    }
+    }
+    #define eigen_plain_assert(x) \
+      do { \
+        if(!Eigen::internal::copy_bool(x)) \
+          Eigen::internal::assert_fail(EIGEN_MAKESTRING(x), __PRETTY_FUNCTION__, __FILE__, __LINE__); \
+      } while(false)
+  #endif
+#endif
+
+// eigen_assert can be overridden
+#ifndef eigen_assert
+#define eigen_assert(x) eigen_plain_assert(x)
+#endif
+
+#ifdef EIGEN_INTERNAL_DEBUGGING
+#define eigen_internal_assert(x) eigen_assert(x)
+#else
+#define eigen_internal_assert(x)
+#endif
+
+#ifdef EIGEN_NO_DEBUG
+#define EIGEN_ONLY_USED_FOR_DEBUG(x) (void)x
+#else
+#define EIGEN_ONLY_USED_FOR_DEBUG(x)
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_DEPRECATED __attribute__((deprecated))
+#elif (defined _MSC_VER)
+#define EIGEN_DEPRECATED __declspec(deprecated)
+#else
+#define EIGEN_DEPRECATED
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_UNUSED __attribute__((unused))
+#else
+#define EIGEN_UNUSED
+#endif
+
+// Suppresses 'unused variable' warnings.
+#define EIGEN_UNUSED_VARIABLE(var) (void)var;
+
+#if (defined __GNUC__)
+#define EIGEN_ASM_COMMENT(X)  asm("#"X)
+#else
+#define EIGEN_ASM_COMMENT(X)
+#endif
+
+/* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
+ * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
+ * so that vectorization doesn't affect binary compatibility.
+ *
+ * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
+ * vectorized and non-vectorized code.
+ */
+#if (defined __GNUC__) || (defined __PGI) || (defined __IBMCPP__)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#elif (defined _MSC_VER)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
+#elif (defined __SUNPRO_CC)
+  // FIXME not sure about this one:
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#else
+  #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
+#endif
+
+#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
+
+#if EIGEN_ALIGN_STATICALLY
+#define EIGEN_USER_ALIGN_TO_BOUNDARY(n) EIGEN_ALIGN_TO_BOUNDARY(n)
+#define EIGEN_USER_ALIGN16 EIGEN_ALIGN16
+#else
+#define EIGEN_USER_ALIGN_TO_BOUNDARY(n)
+#define EIGEN_USER_ALIGN16
+#endif
+
+#ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
+  #define EIGEN_RESTRICT
+#endif
+#ifndef EIGEN_RESTRICT
+  #define EIGEN_RESTRICT __restrict
+#endif
+
+#ifndef EIGEN_STACK_ALLOCATION_LIMIT
+#define EIGEN_STACK_ALLOCATION_LIMIT 20000
+#endif
+
+#ifndef EIGEN_DEFAULT_IO_FORMAT
+#ifdef EIGEN_MAKING_DOCS
+// format used in Eigen's documentation
+// needed to define it here as escaping characters in CMake add_definition's argument seems very problematic.
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(3, 0, " ", "\n", "", "")
+#else
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat()
+#endif
+#endif
+
+// just an empty macro !
+#define EIGEN_EMPTY
+
+#if defined(_MSC_VER) && (!defined(__INTEL_COMPILER))
+#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+  using Base::operator =;
+#else
+#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+  using Base::operator =; \
+  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
+  { \
+    Base::operator=(other); \
+    return *this; \
+  }
+#endif
+
+#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
+  EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
+
+/**
+* Just a side note. Commenting within defines works only by documenting
+* behind the object (via '!<'). Comments cannot be multi-line and thus
+* we have these extra long lines. What is confusing doxygen over here is
+* that we use '\' and basically have a bunch of typedefs with their
+* documentation in a single line.
+**/
+
+#define EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
+  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
+
+
+#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
+  typedef typename Base::PacketScalar PacketScalar; \
+  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        MaxRowsAtCompileTime = Eigen::internal::traits<Derived>::MaxRowsAtCompileTime, \
+        MaxColsAtCompileTime = Eigen::internal::traits<Derived>::MaxColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
+  using Base::derived; \
+  using Base::const_cast_derived;
+
+
+#define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
+#define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_DYNAMIC gives the min between compile-time sizes. 0 has absolute priority, followed by 1,
+// followed by Dynamic, followed by other finite values. The reason for giving Dynamic the priority over
+// finite values is that min(3, Dynamic) should be Dynamic, since that could be anything between 0 and 3.
+#define EIGEN_SIZE_MIN_PREFER_DYNAMIC(a,b) (((int)a == 0 || (int)b == 0) ? 0 \
+                           : ((int)a == 1 || (int)b == 1) ? 1 \
+                           : ((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+                           : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_FIXED is a variant of EIGEN_SIZE_MIN_PREFER_DYNAMIC comparing MaxSizes. The difference is that finite values
+// now have priority over Dynamic, so that min(3, Dynamic) gives 3. Indeed, whatever the actual value is
+// (between 0 and 3), it is not more than 3.
+#define EIGEN_SIZE_MIN_PREFER_FIXED(a,b)  (((int)a == 0 || (int)b == 0) ? 0 \
+                           : ((int)a == 1 || (int)b == 1) ? 1 \
+                           : ((int)a == Dynamic && (int)b == Dynamic) ? Dynamic \
+                           : ((int)a == Dynamic) ? (int)b \
+                           : ((int)b == Dynamic) ? (int)a \
+                           : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// see EIGEN_SIZE_MIN_PREFER_DYNAMIC. No need for a separate variant for MaxSizes here.
+#define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+                           : ((int)a >= (int)b) ? (int)a : (int)b)
+
+#define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b)))
+
+#define EIGEN_IMPLIES(a,b) (!(a) || (b))
+
+#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
+  template<typename OtherDerived> \
+  EIGEN_STRONG_INLINE const CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived> \
+  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+  { \
+    return CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived>(derived(), other.derived()); \
+  }
+
+// the expression type of a cwise product
+#define EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS) \
+    CwiseBinaryOp< \
+      internal::scalar_product_op< \
+          typename internal::traits<LHS>::Scalar, \
+          typename internal::traits<RHS>::Scalar \
+      >, \
+      const LHS, \
+      const RHS \
+    >
+
+#endif // EIGEN_MACROS_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/Memory.h b/extern/Eigen3/Eigen/src/Core/util/Memory.h
new file mode 100644
index 00000000000..a580b95ad0d
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/Memory.h
@@ -0,0 +1,911 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+// Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+/*****************************************************************************
+*** Platform checks for aligned malloc functions                           ***
+*****************************************************************************/
+
+#ifndef EIGEN_MEMORY_H
+#define EIGEN_MEMORY_H
+
+// On 64-bit systems, glibc's malloc returns 16-byte-aligned pointers, see:
+//   http://www.gnu.org/s/libc/manual/html_node/Aligned-Memory-Blocks.html
+// This is true at least since glibc 2.8.
+// This leaves the question how to detect 64-bit. According to this document,
+//   http://gcc.fyxm.net/summit/2003/Porting%20to%2064%20bit.pdf
+// page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
+// quite safe, at least within the context of glibc, to equate 64-bit with LP64.
+#if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
+ && defined(__LP64__)
+  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+// FreeBSD 6 seems to have 16-byte aligned malloc
+//   See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
+// FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
+//   See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
+#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
+  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#if defined(__APPLE__) \
+ || defined(_WIN64) \
+ || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED \
+ || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
+  #define EIGEN_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#if ((defined __QNXNTO__) || (defined _GNU_SOURCE) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) \
+ && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
+  #define EIGEN_HAS_POSIX_MEMALIGN 1
+#else
+  #define EIGEN_HAS_POSIX_MEMALIGN 0
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSE
+  #define EIGEN_HAS_MM_MALLOC 1
+#else
+  #define EIGEN_HAS_MM_MALLOC 0
+#endif
+
+namespace internal {
+
+/*****************************************************************************
+*** Implementation of handmade aligned functions                           ***
+*****************************************************************************/
+
+/* ----- Hand made implementations of aligned malloc/free and realloc ----- */
+
+/** \internal Like malloc, but the returned pointer is guaranteed to be 16-byte aligned.
+  * Fast, but wastes 16 additional bytes of memory. Does not throw any exception.
+  */
+inline void* handmade_aligned_malloc(size_t size)
+{
+  void *original = std::malloc(size+16);
+  if (original == 0) return 0;
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<size_t>(original) & ~(size_t(15))) + 16);
+  *(reinterpret_cast<void**>(aligned) - 1) = original;
+  return aligned;
+}
+
+/** \internal Frees memory allocated with handmade_aligned_malloc */
+inline void handmade_aligned_free(void *ptr)
+{
+  if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
+}
+
+/** \internal
+  * \brief Reallocates aligned memory.
+  * Since we know that our handmade version is based on std::realloc
+  * we can use std::realloc to implement efficient reallocation.
+  */
+inline void* handmade_aligned_realloc(void* ptr, size_t size, size_t = 0)
+{
+  if (ptr == 0) return handmade_aligned_malloc(size);
+  void *original = *(reinterpret_cast<void**>(ptr) - 1);
+  original = std::realloc(original,size+16);
+  if (original == 0) return 0;
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<size_t>(original) & ~(size_t(15))) + 16);
+  *(reinterpret_cast<void**>(aligned) - 1) = original;
+  return aligned;
+}
+
+/*****************************************************************************
+*** Implementation of generic aligned realloc (when no realloc can be used)***
+*****************************************************************************/
+
+void* aligned_malloc(size_t size);
+void  aligned_free(void *ptr);
+
+/** \internal
+  * \brief Reallocates aligned memory.
+  * Allows reallocation with aligned ptr types. This implementation will
+  * always create a new memory chunk and copy the old data.
+  */
+inline void* generic_aligned_realloc(void* ptr, size_t size, size_t old_size)
+{
+  if (ptr==0)
+    return aligned_malloc(size);
+
+  if (size==0)
+  {
+    aligned_free(ptr);
+    return 0;
+  }
+
+  void* newptr = aligned_malloc(size);
+  if (newptr == 0)
+  {
+    #ifdef EIGEN_HAS_ERRNO
+    errno = ENOMEM; // according to the standard
+    #endif
+    return 0;
+  }
+
+  if (ptr != 0)
+  {
+    std::memcpy(newptr, ptr, (std::min)(size,old_size));
+    aligned_free(ptr);
+  }
+
+  return newptr;
+}
+
+/*****************************************************************************
+*** Implementation of portable aligned versions of malloc/free/realloc     ***
+*****************************************************************************/
+
+#ifdef EIGEN_NO_MALLOC
+inline void check_that_malloc_is_allowed()
+{
+  eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
+}
+#elif defined EIGEN_RUNTIME_NO_MALLOC
+inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
+{
+  static bool value = true;
+  if (update == 1)
+    value = new_value;
+  return value;
+}
+inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
+inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
+inline void check_that_malloc_is_allowed()
+{
+  eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
+}
+#else 
+inline void check_that_malloc_is_allowed()
+{}
+#endif
+
+/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
+  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  */
+inline void* aligned_malloc(size_t size)
+{
+  check_that_malloc_is_allowed();
+
+  void *result;
+  #if !EIGEN_ALIGN
+    result = std::malloc(size);
+  #elif EIGEN_MALLOC_ALREADY_ALIGNED
+    result = std::malloc(size);
+  #elif EIGEN_HAS_POSIX_MEMALIGN
+    if(posix_memalign(&result, 16, size)) result = 0;
+  #elif EIGEN_HAS_MM_MALLOC
+    result = _mm_malloc(size, 16);
+  #elif (defined _MSC_VER)
+    result = _aligned_malloc(size, 16);
+  #else
+    result = handmade_aligned_malloc(size);
+  #endif
+
+  #ifdef EIGEN_EXCEPTIONS
+    if(result == 0)
+      throw std::bad_alloc();
+  #endif
+  return result;
+}
+
+/** \internal Frees memory allocated with aligned_malloc. */
+inline void aligned_free(void *ptr)
+{
+  #if !EIGEN_ALIGN
+    std::free(ptr);
+  #elif EIGEN_MALLOC_ALREADY_ALIGNED
+    std::free(ptr);
+  #elif EIGEN_HAS_POSIX_MEMALIGN
+    std::free(ptr);
+  #elif EIGEN_HAS_MM_MALLOC
+    _mm_free(ptr);
+  #elif defined(_MSC_VER)
+    _aligned_free(ptr);
+  #else
+    handmade_aligned_free(ptr);
+  #endif
+}
+
+/**
+* \internal
+* \brief Reallocates an aligned block of memory.
+* \throws std::bad_alloc if EIGEN_EXCEPTIONS are defined.
+**/
+inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
+{
+  EIGEN_UNUSED_VARIABLE(old_size);
+
+  void *result;
+#if !EIGEN_ALIGN
+  result = std::realloc(ptr,new_size);
+#elif EIGEN_MALLOC_ALREADY_ALIGNED
+  result = std::realloc(ptr,new_size);
+#elif EIGEN_HAS_POSIX_MEMALIGN
+  result = generic_aligned_realloc(ptr,new_size,old_size);
+#elif EIGEN_HAS_MM_MALLOC
+  // The defined(_mm_free) is just here to verify that this MSVC version
+  // implements _mm_malloc/_mm_free based on the corresponding _aligned_
+  // functions. This may not always be the case and we just try to be safe.
+  #if defined(_MSC_VER) && defined(_mm_free)
+    result = _aligned_realloc(ptr,new_size,16);
+  #else
+    result = generic_aligned_realloc(ptr,new_size,old_size);
+  #endif
+#elif defined(_MSC_VER)
+  result = _aligned_realloc(ptr,new_size,16);
+#else
+  result = handmade_aligned_realloc(ptr,new_size,old_size);
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  if (result==0 && new_size!=0)
+    throw std::bad_alloc();
+#endif
+  return result;
+}
+
+/*****************************************************************************
+*** Implementation of conditionally aligned functions                      ***
+*****************************************************************************/
+
+/** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
+  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  */
+template<bool Align> inline void* conditional_aligned_malloc(size_t size)
+{
+  return aligned_malloc(size);
+}
+
+template<> inline void* conditional_aligned_malloc<false>(size_t size)
+{
+  check_that_malloc_is_allowed();
+
+  void *result = std::malloc(size);
+  #ifdef EIGEN_EXCEPTIONS
+    if(!result) throw std::bad_alloc();
+  #endif
+  return result;
+}
+
+/** \internal Frees memory allocated with conditional_aligned_malloc */
+template<bool Align> inline void conditional_aligned_free(void *ptr)
+{
+  aligned_free(ptr);
+}
+
+template<> inline void conditional_aligned_free<false>(void *ptr)
+{
+  std::free(ptr);
+}
+
+template<bool Align> inline void* conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
+{
+  return aligned_realloc(ptr, new_size, old_size);
+}
+
+template<> inline void* conditional_aligned_realloc<false>(void* ptr, size_t new_size, size_t)
+{
+  return std::realloc(ptr, new_size);
+}
+
+/*****************************************************************************
+*** Construction/destruction of array elements                             ***
+*****************************************************************************/
+
+/** \internal Constructs the elements of an array.
+  * The \a size parameter tells on how many objects to call the constructor of T.
+  */
+template<typename T> inline T* construct_elements_of_array(T *ptr, size_t size)
+{
+  for (size_t i=0; i < size; ++i) ::new (ptr + i) T;
+  return ptr;
+}
+
+/** \internal Destructs the elements of an array.
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
+{
+  // always destruct an array starting from the end.
+  if(ptr)
+    while(size) ptr[--size].~T();
+}
+
+/*****************************************************************************
+*** Implementation of aligned new/delete-like functions                    ***
+*****************************************************************************/
+
+/** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
+  * On allocation error, the returned pointer is undefined, but if exceptions are enabled then a std::bad_alloc is thrown.
+  * The default constructor of T is called.
+  */
+template<typename T> inline T* aligned_new(size_t size)
+{
+  T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
+  return construct_elements_of_array(result, size);
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
+{
+  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+  return construct_elements_of_array(result, size);
+}
+
+/** \internal Deletes objects constructed with aligned_new
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T> inline void aligned_delete(T *ptr, size_t size)
+{
+  destruct_elements_of_array<T>(ptr, size);
+  aligned_free(ptr);
+}
+
+/** \internal Deletes objects constructed with conditional_aligned_new
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr, size_t size)
+{
+  destruct_elements_of_array<T>(ptr, size);
+  conditional_aligned_free<Align>(ptr);
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
+{
+  if(new_size < old_size)
+    destruct_elements_of_array(pts+new_size, old_size-new_size);
+  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+  if(new_size > old_size)
+    construct_elements_of_array(result+old_size, new_size-old_size);
+  return result;
+}
+
+
+template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
+{
+  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+  if(NumTraits<T>::RequireInitialization)
+    construct_elements_of_array(result, size);
+  return result;
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, size_t new_size, size_t old_size)
+{
+  if(NumTraits<T>::RequireInitialization && (new_size < old_size))
+    destruct_elements_of_array(pts+new_size, old_size-new_size);
+  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+  if(NumTraits<T>::RequireInitialization && (new_size > old_size))
+    construct_elements_of_array(result+old_size, new_size-old_size);
+  return result;
+}
+
+template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *ptr, size_t size)
+{
+  if(NumTraits<T>::RequireInitialization)
+    destruct_elements_of_array<T>(ptr, size);
+  conditional_aligned_free<Align>(ptr);
+}
+
+/****************************************************************************/
+
+/** \internal Returns the index of the first element of the array that is well aligned for vectorization.
+  *
+  * \param array the address of the start of the array
+  * \param size the size of the array
+  *
+  * \note If no element of the array is well aligned, the size of the array is returned. Typically,
+  * for example with SSE, "well aligned" means 16-byte-aligned. If vectorization is disabled or if the
+  * packet size for the given scalar type is 1, then everything is considered well-aligned.
+  *
+  * \note If the scalar type is vectorizable, we rely on the following assumptions: sizeof(Scalar) is a
+  * power of 2, the packet size in bytes is also a power of 2, and is a multiple of sizeof(Scalar). On the
+  * other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
+  * example with Scalar=double on certain 32-bit platforms, see bug #79.
+  *
+  * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
+  */
+template<typename Scalar, typename Index>
+inline static Index first_aligned(const Scalar* array, Index size)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size,
+         PacketAlignedMask = PacketSize-1
+  };
+
+  if(PacketSize==1)
+  {
+    // Either there is no vectorization, or a packet consists of exactly 1 scalar so that all elements
+    // of the array have the same alignment.
+    return 0;
+  }
+  else if(size_t(array) & (sizeof(Scalar)-1))
+  {
+    // There is vectorization for this scalar type, but the array is not aligned to the size of a single scalar.
+    // Consequently, no element of the array is well aligned.
+    return size;
+  }
+  else
+  {
+    return std::min<Index>( (PacketSize - (Index((size_t(array)/sizeof(Scalar))) & PacketAlignedMask))
+                           & PacketAlignedMask, size);
+  }
+}
+
+} // end namespace internal
+
+/*****************************************************************************
+*** Implementation of runtime stack allocation (falling back to malloc)    ***
+*****************************************************************************/
+
+// you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
+// to the appropriate stack allocation function
+#ifndef EIGEN_ALLOCA
+  #if (defined __linux__)
+    #define EIGEN_ALLOCA alloca
+  #elif defined(_MSC_VER)
+    #define EIGEN_ALLOCA _alloca
+  #endif
+#endif
+
+namespace internal {
+
+// This helper class construct the allocated memory, and takes care of destructing and freeing the handled data
+// at destruction time. In practice this helper class is mainly useful to avoid memory leak in case of exceptions.
+template<typename T> class aligned_stack_memory_handler
+{
+  public:
+    /* Creates a stack_memory_handler responsible for the buffer \a ptr of size \a size.
+     * Note that \a ptr can be 0 regardless of the other parameters.
+     * This constructor takes care of constructing/initializing the elements of the buffer if required by the scalar type T (see NumTraits<T>::RequireInitialization).
+     * In this case, the buffer elements will also be destructed when this handler will be destructed.
+     * Finally, if \a dealloc is true, then the pointer \a ptr is freed.
+     **/
+    aligned_stack_memory_handler(T* ptr, size_t size, bool dealloc)
+      : m_ptr(ptr), m_size(size), m_deallocate(dealloc)
+    {
+      if(NumTraits<T>::RequireInitialization && m_ptr)
+        Eigen::internal::construct_elements_of_array(m_ptr, size);
+    }
+    ~aligned_stack_memory_handler()
+    {
+      if(NumTraits<T>::RequireInitialization && m_ptr)
+        Eigen::internal::destruct_elements_of_array<T>(m_ptr, m_size);
+      if(m_deallocate)
+        Eigen::internal::aligned_free(m_ptr);
+    }
+  protected:
+    T* m_ptr;
+    size_t m_size;
+    bool m_deallocate;
+};
+
+}
+
+/** \internal
+  * Declares, allocates and construct an aligned buffer named NAME of SIZE elements of type TYPE on the stack
+  * if SIZE is smaller than EIGEN_STACK_ALLOCATION_LIMIT, and if stack allocation is supported by the platform
+  * (currently, this is Linux and Visual Studio only). Otherwise the memory is allocated on the heap.
+  * The allocated buffer is automatically deleted when exiting the scope of this declaration.
+  * If BUFFER is non nul, then the declared variable is simply an alias for BUFFER, and no allocation/deletion occurs.
+  * Here is an example:
+  * \code
+  * {
+  *   ei_declare_aligned_stack_constructed_variable(float,data,size,0);
+  *   // use data[0] to data[size-1]
+  * }
+  * \endcode
+  * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
+  */
+#ifdef EIGEN_ALLOCA
+
+  #ifdef __arm__
+    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((reinterpret_cast<size_t>(EIGEN_ALLOCA(SIZE+16)) & ~(size_t(15))) + 16)
+  #else
+    #define EIGEN_ALIGNED_ALLOCA EIGEN_ALLOCA
+  #endif
+
+  #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+    TYPE* NAME = (BUFFER)!=0 ? (BUFFER) \
+               : reinterpret_cast<TYPE*>( \
+                      (sizeof(TYPE)*SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) ? EIGEN_ALIGNED_ALLOCA(sizeof(TYPE)*SIZE) \
+                    : Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE) );  \
+    Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,sizeof(TYPE)*SIZE>EIGEN_STACK_ALLOCATION_LIMIT)
+
+#else
+
+  #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+    TYPE* NAME = (BUFFER)!=0 ? BUFFER : reinterpret_cast<TYPE*>(Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE));    \
+    Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,true)
+    
+#endif
+
+
+/*****************************************************************************
+*** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
+*****************************************************************************/
+
+#if EIGEN_ALIGN
+  #ifdef EIGEN_EXCEPTIONS
+    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(size_t size, const std::nothrow_t&) throw() { \
+        try { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
+        catch (...) { return 0; } \
+        return 0; \
+      }
+  #else
+    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(size_t size, const std::nothrow_t&) throw() { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      }
+  #endif
+
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+      void *operator new(size_t size) { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void *operator new[](size_t size) { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      /* in-place new and delete. since (at least afaik) there is no actual   */ \
+      /* memory allocated we can safely let the default implementation handle */ \
+      /* this particular case. */ \
+      static void *operator new(size_t size, void *ptr) { return ::operator new(size,ptr); } \
+      void operator delete(void * memory, void *ptr) throw() { return ::operator delete(memory,ptr); } \
+      /* nothrow-new (returns zero instead of std::bad_alloc) */ \
+      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void operator delete(void *ptr, const std::nothrow_t&) throw() { \
+        Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
+      } \
+      typedef void eigen_aligned_operator_new_marker_type;
+#else
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+#endif
+
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0))
+
+/****************************************************************************/
+
+/** \class aligned_allocator
+* \ingroup Core_Module
+*
+* \brief STL compatible allocator to use with with 16 byte aligned types
+*
+* Example:
+* \code
+* // Matrix4f requires 16 bytes alignment:
+* std::map< int, Matrix4f, std::less<int>, 
+*           aligned_allocator<std::pair<const int, Matrix4f> > > my_map_mat4;
+* // Vector3f does not require 16 bytes alignment, no need to use Eigen's allocator:
+* std::map< int, Vector3f > my_map_vec3;
+* \endcode
+*
+* \sa \ref TopicStlContainers.
+*/
+template<class T>
+class aligned_allocator
+{
+public:
+    typedef size_t    size_type;
+    typedef std::ptrdiff_t difference_type;
+    typedef T*        pointer;
+    typedef const T*  const_pointer;
+    typedef T&        reference;
+    typedef const T&  const_reference;
+    typedef T         value_type;
+
+    template<class U>
+    struct rebind
+    {
+        typedef aligned_allocator<U> other;
+    };
+
+    pointer address( reference value ) const
+    {
+        return &value;
+    }
+
+    const_pointer address( const_reference value ) const
+    {
+        return &value;
+    }
+
+    aligned_allocator() throw()
+    {
+    }
+
+    aligned_allocator( const aligned_allocator& ) throw()
+    {
+    }
+
+    template<class U>
+    aligned_allocator( const aligned_allocator<U>& ) throw()
+    {
+    }
+
+    ~aligned_allocator() throw()
+    {
+    }
+
+    size_type max_size() const throw()
+    {
+        return (std::numeric_limits<size_type>::max)();
+    }
+
+    pointer allocate( size_type num, const void* hint = 0 )
+    {
+        EIGEN_UNUSED_VARIABLE(hint);
+        return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
+    }
+
+    void construct( pointer p, const T& value )
+    {
+        ::new( p ) T( value );
+    }
+
+    void destroy( pointer p )
+    {
+        p->~T();
+    }
+
+    void deallocate( pointer p, size_type /*num*/ )
+    {
+        internal::aligned_free( p );
+    }
+
+    bool operator!=(const aligned_allocator<T>& ) const
+    { return false; }
+
+    bool operator==(const aligned_allocator<T>& ) const
+    { return true; }
+};
+
+//---------- Cache sizes ----------
+
+#if defined(__GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
+#  if defined(__PIC__) && defined(__i386__)
+     // Case for x86 with PIC
+#    define EIGEN_CPUID(abcd,func,id) \
+       __asm__ __volatile__ ("xchgl %%ebx, %%esi;cpuid; xchgl %%ebx,%%esi": "=a" (abcd[0]), "=S" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
+#  else
+     // Case for x86_64 or x86 w/o PIC
+#    define EIGEN_CPUID(abcd,func,id) \
+       __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id) );
+#  endif
+#elif defined(_MSC_VER)
+#  if (_MSC_VER > 1500)
+#    define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
+#  endif
+#endif
+
+namespace internal {
+
+#ifdef EIGEN_CPUID
+
+inline bool cpuid_is_vendor(int abcd[4], const char* vendor)
+{
+  return abcd[1]==((int*)(vendor))[0] && abcd[3]==((int*)(vendor))[1] && abcd[2]==((int*)(vendor))[2];
+}
+
+inline void queryCacheSizes_intel_direct(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  l1 = l2 = l3 = 0;
+  int cache_id = 0;
+  int cache_type = 0;
+  do {
+    abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+    EIGEN_CPUID(abcd,0x4,cache_id);
+    cache_type  = (abcd[0] & 0x0F) >> 0;
+    if(cache_type==1||cache_type==3) // data or unified cache
+    {
+      int cache_level = (abcd[0] & 0xE0) >> 5;  // A[7:5]
+      int ways        = (abcd[1] & 0xFFC00000) >> 22; // B[31:22]
+      int partitions  = (abcd[1] & 0x003FF000) >> 12; // B[21:12]
+      int line_size   = (abcd[1] & 0x00000FFF) >>  0; // B[11:0]
+      int sets        = (abcd[2]);                    // C[31:0]
+
+      int cache_size = (ways+1) * (partitions+1) * (line_size+1) * (sets+1);
+
+      switch(cache_level)
+      {
+        case 1: l1 = cache_size; break;
+        case 2: l2 = cache_size; break;
+        case 3: l3 = cache_size; break;
+        default: break;
+      }
+    }
+    cache_id++;
+  } while(cache_type>0 && cache_id<16);
+}
+
+inline void queryCacheSizes_intel_codes(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  l1 = l2 = l3 = 0;
+  EIGEN_CPUID(abcd,0x00000002,0);
+  unsigned char * bytes = reinterpret_cast<unsigned char *>(abcd)+2;
+  bool check_for_p2_core2 = false;
+  for(int i=0; i<14; ++i)
+  {
+    switch(bytes[i])
+    {
+      case 0x0A: l1 = 8; break;   // 0Ah   data L1 cache, 8 KB, 2 ways, 32 byte lines
+      case 0x0C: l1 = 16; break;  // 0Ch   data L1 cache, 16 KB, 4 ways, 32 byte lines
+      case 0x0E: l1 = 24; break;  // 0Eh   data L1 cache, 24 KB, 6 ways, 64 byte lines
+      case 0x10: l1 = 16; break;  // 10h   data L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+      case 0x15: l1 = 16; break;  // 15h   code L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+      case 0x2C: l1 = 32; break;  // 2Ch   data L1 cache, 32 KB, 8 ways, 64 byte lines
+      case 0x30: l1 = 32; break;  // 30h   code L1 cache, 32 KB, 8 ways, 64 byte lines
+      case 0x60: l1 = 16; break;  // 60h   data L1 cache, 16 KB, 8 ways, 64 byte lines, sectored
+      case 0x66: l1 = 8; break;   // 66h   data L1 cache, 8 KB, 4 ways, 64 byte lines, sectored
+      case 0x67: l1 = 16; break;  // 67h   data L1 cache, 16 KB, 4 ways, 64 byte lines, sectored
+      case 0x68: l1 = 32; break;  // 68h   data L1 cache, 32 KB, 4 ways, 64 byte lines, sectored
+      case 0x1A: l2 = 96; break;   // code and data L2 cache, 96 KB, 6 ways, 64 byte lines (IA-64)
+      case 0x22: l3 = 512; break;   // code and data L3 cache, 512 KB, 4 ways (!), 64 byte lines, dual-sectored
+      case 0x23: l3 = 1024; break;   // code and data L3 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x25: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x29: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x39: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 64 byte lines, sectored
+      case 0x3A: l2 = 192; break;   // code and data L2 cache, 192 KB, 6 ways, 64 byte lines, sectored
+      case 0x3B: l2 = 128; break;   // code and data L2 cache, 128 KB, 2 ways, 64 byte lines, sectored
+      case 0x3C: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 64 byte lines, sectored
+      case 0x3D: l2 = 384; break;   // code and data L2 cache, 384 KB, 6 ways, 64 byte lines, sectored
+      case 0x3E: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines, sectored
+      case 0x40: l2 = 0; break;   // no integrated L2 cache (P6 core) or L3 cache (P4 core)
+      case 0x41: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 32 byte lines
+      case 0x42: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 32 byte lines
+      case 0x43: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 32 byte lines
+      case 0x44: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 32 byte lines
+      case 0x45: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 4 ways, 32 byte lines
+      case 0x46: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines
+      case 0x47: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 8 ways, 64 byte lines
+      case 0x48: l2 = 3072; break;   // code and data L2 cache, 3072 KB, 12 ways, 64 byte lines
+      case 0x49: if(l2!=0) l3 = 4096; else {check_for_p2_core2=true; l3 = l2 = 4096;} break;// code and data L3 cache, 4096 KB, 16 ways, 64 byte lines (P4) or L2 for core2
+      case 0x4A: l3 = 6144; break;   // code and data L3 cache, 6144 KB, 12 ways, 64 byte lines
+      case 0x4B: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 16 ways, 64 byte lines
+      case 0x4C: l3 = 12288; break;   // code and data L3 cache, 12288 KB, 12 ways, 64 byte lines
+      case 0x4D: l3 = 16384; break;   // code and data L3 cache, 16384 KB, 16 ways, 64 byte lines
+      case 0x4E: l2 = 6144; break;   // code and data L2 cache, 6144 KB, 24 ways, 64 byte lines
+      case 0x78: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 64 byte lines
+      case 0x79: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7A: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7B: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7C: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7D: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 64 byte lines
+      case 0x7E: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 128 byte lines, sect. (IA-64)
+      case 0x7F: l2 = 512; break;   // code and data L2 cache, 512 KB, 2 ways, 64 byte lines
+      case 0x80: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines
+      case 0x81: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 32 byte lines
+      case 0x82: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 32 byte lines
+      case 0x83: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 32 byte lines
+      case 0x84: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 32 byte lines
+      case 0x85: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 32 byte lines
+      case 0x86: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines
+      case 0x87: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines
+      case 0x88: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x89: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x8A: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x8D: l3 = 3072; break;   // code and data L3 cache, 3072 KB, 12 ways, 128 byte lines (IA-64)
+
+      default: break;
+    }
+  }
+  if(check_for_p2_core2 && l2 == l3)
+    l3 = 0;
+  l1 *= 1024;
+  l2 *= 1024;
+  l3 *= 1024;
+}
+
+inline void queryCacheSizes_intel(int& l1, int& l2, int& l3, int max_std_funcs)
+{
+  if(max_std_funcs>=4)
+    queryCacheSizes_intel_direct(l1,l2,l3);
+  else
+    queryCacheSizes_intel_codes(l1,l2,l3);
+}
+
+inline void queryCacheSizes_amd(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  EIGEN_CPUID(abcd,0x80000005,0);
+  l1 = (abcd[2] >> 24) * 1024; // C[31:24] = L1 size in KB
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  EIGEN_CPUID(abcd,0x80000006,0);
+  l2 = (abcd[2] >> 16) * 1024; // C[31;16] = l2 cache size in KB
+  l3 = ((abcd[3] & 0xFFFC000) >> 18) * 512 * 1024; // D[31;18] = l3 cache size in 512KB
+}
+#endif
+
+/** \internal
+ * Queries and returns the cache sizes in Bytes of the L1, L2, and L3 data caches respectively */
+inline void queryCacheSizes(int& l1, int& l2, int& l3)
+{
+  #ifdef EIGEN_CPUID
+  int abcd[4];
+
+  // identify the CPU vendor
+  EIGEN_CPUID(abcd,0x0,0);
+  int max_std_funcs = abcd[1];
+  if(cpuid_is_vendor(abcd,"GenuineIntel"))
+    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+  else if(cpuid_is_vendor(abcd,"AuthenticAMD") || cpuid_is_vendor(abcd,"AMDisbetter!"))
+    queryCacheSizes_amd(l1,l2,l3);
+  else
+    // by default let's use Intel's API
+    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+
+  // here is the list of other vendors:
+//   ||cpuid_is_vendor(abcd,"VIA VIA VIA ")
+//   ||cpuid_is_vendor(abcd,"CyrixInstead")
+//   ||cpuid_is_vendor(abcd,"CentaurHauls")
+//   ||cpuid_is_vendor(abcd,"GenuineTMx86")
+//   ||cpuid_is_vendor(abcd,"TransmetaCPU")
+//   ||cpuid_is_vendor(abcd,"RiseRiseRise")
+//   ||cpuid_is_vendor(abcd,"Geode by NSC")
+//   ||cpuid_is_vendor(abcd,"SiS SiS SiS ")
+//   ||cpuid_is_vendor(abcd,"UMC UMC UMC ")
+//   ||cpuid_is_vendor(abcd,"NexGenDriven")
+  #else
+  l1 = l2 = l3 = -1;
+  #endif
+}
+
+/** \internal
+ * \returns the size in Bytes of the L1 data cache */
+inline int queryL1CacheSize()
+{
+  int l1(-1), l2, l3;
+  queryCacheSizes(l1,l2,l3);
+  return l1;
+}
+
+/** \internal
+ * \returns the size in Bytes of the L2 or L3 cache if this later is present */
+inline int queryTopLevelCacheSize()
+{
+  int l1, l2(-1), l3(-1);
+  queryCacheSizes(l1,l2,l3);
+  return (std::max)(l2,l3);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_MEMORY_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/Meta.h b/extern/Eigen3/Eigen/src/Core/util/Meta.h
new file mode 100644
index 00000000000..4518261efef
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/Meta.h
@@ -0,0 +1,229 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_META_H
+#define EIGEN_META_H
+
+namespace internal {
+
+/** \internal
+  * \file Meta.h
+  * This file contains generic metaprogramming classes which are not specifically related to Eigen.
+  * \note In case you wonder, yes we're aware that Boost already provides all these features,
+  * we however don't want to add a dependency to Boost.
+  */
+
+struct true_type {  enum { value = 1 }; };
+struct false_type { enum { value = 0 }; };
+
+template<bool Condition, typename Then, typename Else>
+struct conditional { typedef Then type; };
+
+template<typename Then, typename Else>
+struct conditional <false, Then, Else> { typedef Else type; };
+
+template<typename T, typename U> struct is_same { enum { value = 0 }; };
+template<typename T> struct is_same<T,T> { enum { value = 1 }; };
+
+template<typename T> struct remove_reference { typedef T type; };
+template<typename T> struct remove_reference<T&> { typedef T type; };
+
+template<typename T> struct remove_pointer { typedef T type; };
+template<typename T> struct remove_pointer<T*> { typedef T type; };
+template<typename T> struct remove_pointer<T*const> { typedef T type; };
+
+template <class T> struct remove_const { typedef T type; };
+template <class T> struct remove_const<const T> { typedef T type; };
+template <class T> struct remove_const<const T[]> { typedef T type[]; };
+template <class T, unsigned int Size> struct remove_const<const T[Size]> { typedef T type[Size]; };
+
+template<typename T> struct remove_all { typedef T type; };
+template<typename T> struct remove_all<const T>   { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const&>  { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T&>        { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const*>  { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T*>        { typedef typename remove_all<T>::type type; };
+
+template<typename T> struct is_arithmetic      { enum { value = false }; };
+template<> struct is_arithmetic<float>         { enum { value = true }; };
+template<> struct is_arithmetic<double>        { enum { value = true }; };
+template<> struct is_arithmetic<long double>   { enum { value = true }; };
+template<> struct is_arithmetic<bool>          { enum { value = true }; };
+template<> struct is_arithmetic<char>          { enum { value = true }; };
+template<> struct is_arithmetic<signed char>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned char> { enum { value = true }; };
+template<> struct is_arithmetic<signed short>  { enum { value = true }; };
+template<> struct is_arithmetic<unsigned short>{ enum { value = true }; };
+template<> struct is_arithmetic<signed int>    { enum { value = true }; };
+template<> struct is_arithmetic<unsigned int>  { enum { value = true }; };
+template<> struct is_arithmetic<signed long>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
+template<> struct is_arithmetic<signed long long>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long long> { enum { value = true }; };
+
+template <typename T> struct add_const { typedef const T type; };
+template <typename T> struct add_const<T&> { typedef T& type; };
+
+template <typename T> struct is_const { enum { value = 0 }; };
+template <typename T> struct is_const<T const> { enum { value = 1 }; };
+
+template<typename T> struct add_const_on_value_type            { typedef const T type;  };
+template<typename T> struct add_const_on_value_type<T&>        { typedef T const& type; };
+template<typename T> struct add_const_on_value_type<T*>        { typedef T const* type; };
+template<typename T> struct add_const_on_value_type<T* const>  { typedef T const* const type; };
+template<typename T> struct add_const_on_value_type<T const* const>  { typedef T const* const type; };
+
+/** \internal Allows to enable/disable an overload
+  * according to a compile time condition.
+  */
+template<bool Condition, typename T> struct enable_if;
+
+template<typename T> struct enable_if<true,T>
+{ typedef T type; };
+
+/** \internal
+  * Convenient struct to get the result type of a unary or binary functor.
+  *
+  * It supports both the current STL mechanism (using the result_type member) as well as
+  * upcoming next STL generation (using a templated result member).
+  * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
+  */
+template<typename T> struct result_of {};
+
+struct has_none {int a[1];};
+struct has_std_result_type {int a[2];};
+struct has_tr1_result {int a[3];};
+
+template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
+struct unary_result_of_select {typedef ArgType type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef typename Func::template result<Func(ArgType)>::type type;};
+
+template<typename Func, typename ArgType>
+struct result_of<Func(ArgType)> {
+    template<typename T>
+    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
+    static has_none            testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename unary_result_of_select<Func, ArgType, FunctorType>::type type;
+};
+
+template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
+struct binary_result_of_select {typedef ArgType0 type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct result_of<Func(ArgType0,ArgType1)> {
+    template<typename T>
+    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
+    static has_none            testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
+};
+
+/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
+  * Usage example: \code meta_sqrt<1023>::ret \endcode
+  */
+template<int Y,
+         int InfX = 0,
+         int SupX = ((Y==1) ? 1 : Y/2),
+         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
+                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
+class meta_sqrt
+{
+    enum {
+      MidX = (InfX+SupX)/2,
+      TakeInf = MidX*MidX > Y ? 1 : 0,
+      NewInf = int(TakeInf) ? InfX : int(MidX),
+      NewSup = int(TakeInf) ? int(MidX) : SupX
+    };
+  public:
+    enum { ret = meta_sqrt<Y,NewInf,NewSup>::ret };
+};
+
+template<int Y, int InfX, int SupX>
+class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
+
+/** \internal determines whether the product of two numeric types is allowed and what the return type is */
+template<typename T, typename U> struct scalar_product_traits;
+
+template<typename T> struct scalar_product_traits<T,T>
+{
+  //enum { Cost = NumTraits<T>::MulCost };
+  typedef T ReturnType;
+};
+
+template<typename T> struct scalar_product_traits<T,std::complex<T> >
+{
+  //enum { Cost = 2*NumTraits<T>::MulCost };
+  typedef std::complex<T> ReturnType;
+};
+
+template<typename T> struct scalar_product_traits<std::complex<T>, T>
+{
+  //enum { Cost = 2*NumTraits<T>::MulCost  };
+  typedef std::complex<T> ReturnType;
+};
+
+// FIXME quick workaround around current limitation of result_of
+// template<typename Scalar, typename ArgType0, typename ArgType1>
+// struct result_of<scalar_product_op<Scalar>(ArgType0,ArgType1)> {
+// typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
+// };
+
+template<typename T> struct is_diagonal
+{ enum { ret = false }; };
+
+template<typename T> struct is_diagonal<DiagonalBase<T> >
+{ enum { ret = true }; };
+
+template<typename T> struct is_diagonal<DiagonalWrapper<T> >
+{ enum { ret = true }; };
+
+template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
+{ enum { ret = true }; };
+
+} // end namespace internal
+
+#endif // EIGEN_META_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h b/extern/Eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
new file mode 100644
index 00000000000..5ddfbd4aa68
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -0,0 +1,14 @@
+#ifdef EIGEN_WARNINGS_DISABLED
+#undef EIGEN_WARNINGS_DISABLED
+
+#ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+  #ifdef _MSC_VER
+    #pragma warning( pop )
+  #elif defined __INTEL_COMPILER
+    #pragma warning pop
+  #elif defined __clang__
+    #pragma clang diagnostic pop
+  #endif
+#endif
+
+#endif // EIGEN_WARNINGS_DISABLED
diff --git a/extern/Eigen2/Eigen/src/Core/util/StaticAssert.h b/extern/Eigen3/Eigen/src/Core/util/StaticAssert.h
index 2c13098a20f..99c7c9972f0 100644
--- a/extern/Eigen2/Eigen/src/Core/util/StaticAssert.h
+++ b/extern/Eigen3/Eigen/src/Core/util/StaticAssert.h
@@ -1,8 +1,8 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -29,11 +29,11 @@
 /* Some notes on Eigen's static assertion mechanism:
  *
  *  - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
- *    expression, and MSG an enum listed in struct ei_static_assert<true>
+ *    expression, and MSG an enum listed in struct internal::static_assertion<true>
  *
  *  - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
  *    in that case, the static assertion is converted to the following runtime assert:
- *      ei_assert(CONDITION && "MSG")
+ *      eigen_assert(CONDITION && "MSG")
  *
  *  - currently EIGEN_STATIC_ASSERT can only be used in function scope
  *
@@ -41,18 +41,20 @@
 
 #ifndef EIGEN_NO_STATIC_ASSERT
 
-  #ifdef __GXX_EXPERIMENTAL_CXX0X__
+  #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600))
 
     // if native static_assert is enabled, let's use it
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
 
-  #else // CXX0X
+  #else // not CXX0X
+
+    namespace internal {
 
     template<bool condition>
-    struct ei_static_assert {};
+    struct static_assertion {};
 
     template<>
-    struct ei_static_assert<true>
+    struct static_assertion<true>
     {
       enum {
         YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX,
@@ -60,10 +62,15 @@
         YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES,
         THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE,
         THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE,
+        THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE,
         YOU_MADE_A_PROGRAMMING_MISTAKE,
+        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT,
+        EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE,
         YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR,
+        YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR,
         UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC,
-        NUMERIC_TYPE_MUST_BE_FLOATING_POINT,
+        THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES,
+        NUMERIC_TYPE_MUST_BE_REAL,
         COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED,
         WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED,
         THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE,
@@ -74,23 +81,38 @@
         THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES,
         THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES,
         INVALID_MATRIX_TEMPLATE_PARAMETERS,
+        INVALID_MATRIXBASE_TEMPLATE_PARAMETERS,
         BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER,
-        THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX
+        THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX,
+        THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE,
+        THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES,
+        YOU_ALREADY_SPECIFIED_THIS_STRIDE,
+        INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION,
+        THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD,
+        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1,
+        THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS,
+        YOU_CANNOT_MIX_ARRAYS_AND_MATRICES,
+        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION,
+        THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY,
+        YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT,
+        THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS
       };
     };
 
+    } // end namespace internal
+
     // Specialized implementation for MSVC to avoid "conditional
     // expression is constant" warnings.  This implementation doesn't
     // appear to work under GCC, hence the multiple implementations.
     #ifdef _MSC_VER
 
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        {Eigen::ei_static_assert<CONDITION ? true : false>::MSG;}
+        {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
 
     #else
 
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        if (Eigen::ei_static_assert<CONDITION ? true : false>::MSG) {}
+        if (Eigen::internal::static_assertion<bool(CONDITION)>::MSG) {}
 
     #endif
 
@@ -98,7 +120,7 @@
 
 #else // EIGEN_NO_STATIC_ASSERT
 
-  #define EIGEN_STATIC_ASSERT(CONDITION,MSG) ei_assert((CONDITION) && #MSG);
+  #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
 
 #endif // EIGEN_NO_STATIC_ASSERT
 
@@ -113,6 +135,11 @@
   EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
                       YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
 
+// static assertion failing if the type \a TYPE is not dynamic-size
+#define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
+  EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
+                      YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
+
 // static assertion failing if the type \a TYPE is not a vector type of the given size
 #define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
   EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
@@ -132,12 +159,26 @@
     YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
 
 #define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
-      ((int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
-   && (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime)))
+     ( \
+        (int(TYPE0::SizeAtCompileTime)==0 && int(TYPE1::SizeAtCompileTime)==0) \
+    || (\
+          (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
+      &&  (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
+       ) \
+     )
+
+#ifdef EIGEN2_SUPPORT
+  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+    eigen_assert(!NumTraits<Scalar>::IsInteger);
+#else
+  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+    EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+#endif
+
 
 // static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
 #define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
@@ -145,4 +186,13 @@
      EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
     YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
 
+#define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
+      EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
+                          (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
+                          THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
+
+#define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
+      EIGEN_STATIC_ASSERT(internal::is_lvalue<Derived>::value, \
+                          THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
+
 #endif // EIGEN_STATIC_ASSERT_H
diff --git a/extern/Eigen3/Eigen/src/Core/util/XprHelper.h b/extern/Eigen3/Eigen/src/Core/util/XprHelper.h
new file mode 100644
index 00000000000..9047c5f8350
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Core/util/XprHelper.h
@@ -0,0 +1,460 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_XPRHELPER_H
+#define EIGEN_XPRHELPER_H
+
+// just a workaround because GCC seems to not really like empty structs
+// FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
+// so currently we simply disable this optimization for gcc 4.3
+#if (defined __GNUG__) && !((__GNUC__==4) && (__GNUC_MINOR__==3))
+  #define EIGEN_EMPTY_STRUCT_CTOR(X) \
+    EIGEN_STRONG_INLINE X() {} \
+    EIGEN_STRONG_INLINE X(const X& ) {}
+#else
+  #define EIGEN_EMPTY_STRUCT_CTOR(X)
+#endif
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
+
+namespace internal {
+
+//classes inheriting no_assignment_operator don't generate a default operator=.
+class no_assignment_operator
+{
+  private:
+    no_assignment_operator& operator=(const no_assignment_operator&);
+};
+
+/** \internal return the index type with the largest number of bits */
+template<typename I1, typename I2>
+struct promote_index_type
+{
+  typedef typename conditional<(sizeof(I1)<sizeof(I2)), I2, I1>::type type;
+};
+
+/** \internal If the template parameter Value is Dynamic, this class is just a wrapper around a T variable that
+  * can be accessed using value() and setValue().
+  * Otherwise, this class is an empty structure and value() just returns the template parameter Value.
+  */
+template<typename T, int Value> class variable_if_dynamic
+{
+  public:
+    EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
+    explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
+    static T value() { return T(Value); }
+    void setValue(T) {}
+};
+
+template<typename T> class variable_if_dynamic<T, Dynamic>
+{
+    T m_value;
+    variable_if_dynamic() { assert(false); }
+  public:
+    explicit variable_if_dynamic(T value) : m_value(value) {}
+    T value() const { return m_value; }
+    void setValue(T value) { m_value = value; }
+};
+
+template<typename T> struct functor_traits
+{
+  enum
+  {
+    Cost = 10,
+    PacketAccess = false
+  };
+};
+
+template<typename T> struct packet_traits;
+
+template<typename T> struct unpacket_traits
+{
+  typedef T type;
+  enum {size=1};
+};
+
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+         int _MaxRows = _Rows,
+         int _MaxCols = _Cols
+> class make_proper_matrix_type
+{
+    enum {
+      IsColVector = _Cols==1 && _Rows!=1,
+      IsRowVector = _Rows==1 && _Cols!=1,
+      Options = IsColVector ? (_Options | ColMajor) & ~RowMajor
+              : IsRowVector ? (_Options | RowMajor) & ~ColMajor
+              : _Options
+    };
+  public:
+    typedef Matrix<_Scalar, _Rows, _Cols, Options, _MaxRows, _MaxCols> type;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+class compute_matrix_flags
+{
+    enum {
+      row_major_bit = Options&RowMajor ? RowMajorBit : 0,
+      is_dynamic_size_storage = MaxRows==Dynamic || MaxCols==Dynamic,
+
+      aligned_bit =
+      (
+            ((Options&DontAlign)==0)
+        &&  packet_traits<Scalar>::Vectorizable
+        && (
+#if EIGEN_ALIGN_STATICALLY
+             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows) % packet_traits<Scalar>::size) == 0))
+#else
+             0
+#endif
+
+          ||
+
+#if EIGEN_ALIGN
+             is_dynamic_size_storage
+#else
+             0
+#endif
+
+          )
+      ) ? AlignedBit : 0,
+      packet_access_bit = packet_traits<Scalar>::Vectorizable && aligned_bit ? PacketAccessBit : 0
+    };
+
+  public:
+    enum { ret = LinearAccessBit | LvalueBit | DirectAccessBit | NestByRefBit | packet_access_bit | row_major_bit | aligned_bit };
+};
+
+template<int _Rows, int _Cols> struct size_at_compile_time
+{
+  enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
+};
+
+/* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
+ * whereas eval is a const reference in the case of a matrix
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
+template<typename T, typename BaseClassType> struct plain_matrix_type_dense;
+template<typename T> struct plain_matrix_type<T,Dense>
+{
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind>::type type;
+};
+
+template<typename T> struct plain_matrix_type_dense<T,MatrixXpr>
+{
+  typedef Matrix<typename traits<T>::Scalar,
+                traits<T>::RowsAtCompileTime,
+                traits<T>::ColsAtCompileTime,
+                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                traits<T>::MaxRowsAtCompileTime,
+                traits<T>::MaxColsAtCompileTime
+          > type;
+};
+
+template<typename T> struct plain_matrix_type_dense<T,ArrayXpr>
+{
+  typedef Array<typename traits<T>::Scalar,
+                traits<T>::RowsAtCompileTime,
+                traits<T>::ColsAtCompileTime,
+                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                traits<T>::MaxRowsAtCompileTime,
+                traits<T>::MaxColsAtCompileTime
+          > type;
+};
+
+/* eval : the return type of eval(). For matrices, this is just a const reference
+ * in order to avoid a useless copy
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct eval;
+
+template<typename T> struct eval<T,Dense>
+{
+  typedef typename plain_matrix_type<T>::type type;
+//   typedef typename T::PlainObject type;
+//   typedef T::Matrix<typename traits<T>::Scalar,
+//                 traits<T>::RowsAtCompileTime,
+//                 traits<T>::ColsAtCompileTime,
+//                 AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+//                 traits<T>::MaxRowsAtCompileTime,
+//                 traits<T>::MaxColsAtCompileTime
+//           > type;
+};
+
+// for matrices, no need to evaluate, just use a const reference to avoid a useless copy
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+  typedef const Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+  typedef const Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+
+
+/* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
+ */
+template<typename T> struct plain_matrix_type_column_major
+{
+  enum { Rows = traits<T>::RowsAtCompileTime,
+         Cols = traits<T>::ColsAtCompileTime,
+         MaxRows = traits<T>::MaxRowsAtCompileTime,
+         MaxCols = traits<T>::MaxColsAtCompileTime
+  };
+  typedef Matrix<typename traits<T>::Scalar,
+                Rows,
+                Cols,
+                (MaxRows==1&&MaxCols!=1) ? RowMajor : ColMajor,
+                MaxRows,
+                MaxCols
+          > type;
+};
+
+/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
+ */
+template<typename T> struct plain_matrix_type_row_major
+{
+  enum { Rows = traits<T>::RowsAtCompileTime,
+         Cols = traits<T>::ColsAtCompileTime,
+         MaxRows = traits<T>::MaxRowsAtCompileTime,
+         MaxCols = traits<T>::MaxColsAtCompileTime
+  };
+  typedef Matrix<typename traits<T>::Scalar,
+                Rows,
+                Cols,
+                (MaxCols==1&&MaxRows!=1) ? RowMajor : ColMajor,
+                MaxRows,
+                MaxCols
+          > type;
+};
+
+// we should be able to get rid of this one too
+template<typename T> struct must_nest_by_value { enum { ret = false }; };
+
+template<class T>
+struct is_reference
+{
+  enum { ret = false };
+};
+
+template<class T>
+struct is_reference<T&>
+{
+  enum { ret = true };
+};
+
+/**
+* \internal The reference selector for template expressions. The idea is that we don't
+* need to use references for expressions since they are light weight proxy
+* objects which should generate no copying overhead.
+**/
+template <typename T>
+struct ref_selector
+{
+  typedef typename conditional<
+    bool(traits<T>::Flags & NestByRefBit),
+    T const&,
+    T
+  >::type type;
+};
+
+/** \internal Determines how a given expression should be nested into another one.
+  * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
+  * nested into the bigger product expression. The choice is between nesting the expression b+c as-is, or
+  * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
+  * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
+  * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
+  *
+  * \param T the type of the expression being nested
+  * \param n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
+  *
+  * Example. Suppose that a, b, and c are of type Matrix3d. The user forms the expression a*(b+c).
+  * b+c is an expression "sum of matrices", which we will denote by S. In order to determine how to nest it,
+  * the Product expression uses: nested<S, 3>::ret, which turns out to be Matrix3d because the internal logic of
+  * nested determined that in this case it was better to evaluate the expression b+c into a temporary. On the other hand,
+  * since a is of type Matrix3d, the Product expression nests it as nested<Matrix3d, 3>::ret, which turns out to be
+  * const Matrix3d&, because the internal logic of nested determined that since a was already a matrix, there was no point
+  * in copying it into another matrix.
+  */
+template<typename T, int n=1, typename PlainObject = typename eval<T>::type> struct nested
+{
+  enum {
+    // for the purpose of this test, to keep it reasonably simple, we arbitrarily choose a value of Dynamic values.
+    // the choice of 10000 makes it larger than any practical fixed value and even most dynamic values.
+    // in extreme cases where these assumptions would be wrong, we would still at worst suffer performance issues
+    // (poor choice of temporaries).
+    // it's important that this value can still be squared without integer overflowing.
+    DynamicAsInteger = 10000,
+    ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
+    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? DynamicAsInteger : ScalarReadCost,
+    CoeffReadCost = traits<T>::CoeffReadCost,
+    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? DynamicAsInteger : CoeffReadCost,
+    NAsInteger = n == Dynamic ? int(DynamicAsInteger) : n,
+    CostEvalAsInteger   = (NAsInteger+1) * ScalarReadCostAsInteger + CoeffReadCostAsInteger,
+    CostNoEvalAsInteger = NAsInteger * CoeffReadCostAsInteger
+  };
+
+  typedef typename conditional<
+      ( (int(traits<T>::Flags) & EvalBeforeNestingBit) ||
+        int(CostEvalAsInteger) < int(CostNoEvalAsInteger)
+      ),
+      PlainObject,
+      typename ref_selector<T>::type
+  >::type type;
+};
+
+template<typename T>
+T* const_cast_ptr(const T* ptr)
+{
+  return const_cast<T*>(ptr);
+}
+
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind>
+struct dense_xpr_base
+{
+  /* dense_xpr_base should only ever be used on dense expressions, thus falling either into the MatrixXpr or into the ArrayXpr cases */
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, MatrixXpr>
+{
+  typedef MatrixBase<Derived> type;
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, ArrayXpr>
+{
+  typedef ArrayBase<Derived> type;
+};
+
+/** \internal Helper base class to add a scalar multiple operator
+  * overloads for complex types */
+template<typename Derived,typename Scalar,typename OtherScalar,
+         bool EnableIt = !is_same<Scalar,OtherScalar>::value >
+struct special_scalar_op_base : public DenseCoeffsBase<Derived>
+{
+  // dummy operator* so that the
+  // "using special_scalar_op_base::operator*" compiles
+  void operator*() const;
+};
+
+template<typename Derived,typename Scalar,typename OtherScalar>
+struct special_scalar_op_base<Derived,Scalar,OtherScalar,true>  : public DenseCoeffsBase<Derived>
+{
+  const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+  operator*(const OtherScalar& scalar) const
+  {
+    return CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+      (*static_cast<const Derived*>(this), scalar_multiple2_op<Scalar,OtherScalar>(scalar));
+  }
+
+  inline friend const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+  operator*(const OtherScalar& scalar, const Derived& matrix)
+  { return static_cast<const special_scalar_op_base&>(matrix).operator*(scalar); }
+};
+
+template<typename XprType, typename CastType> struct cast_return_type
+{
+  typedef typename XprType::Scalar CurrentScalarType;
+  typedef typename remove_all<CastType>::type _CastType;
+  typedef typename _CastType::Scalar NewScalarType;
+  typedef typename conditional<is_same<CurrentScalarType,NewScalarType>::value,
+                              const XprType&,CastType>::type type;
+};
+
+template <typename A, typename B> struct promote_storage_type;
+
+template <typename A> struct promote_storage_type<A,A>
+{
+  typedef A ret;
+};
+
+/** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
+  * \param Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
+  */
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_row_type
+{
+  typedef Matrix<Scalar, 1, ExpressionType::ColsAtCompileTime,
+                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
+  typedef Array<Scalar, 1, ExpressionType::ColsAtCompileTime,
+                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixRowType,
+    ArrayRowType 
+  >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_col_type
+{
+  typedef Matrix<Scalar, ExpressionType::RowsAtCompileTime, 1,
+                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> MatrixColType;
+  typedef Array<Scalar, ExpressionType::RowsAtCompileTime, 1,
+                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> ArrayColType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixColType,
+    ArrayColType 
+  >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_diag_type
+{
+  enum { diag_size = EIGEN_SIZE_MIN_PREFER_DYNAMIC(ExpressionType::RowsAtCompileTime, ExpressionType::ColsAtCompileTime),
+         max_diag_size = EIGEN_SIZE_MIN_PREFER_FIXED(ExpressionType::MaxRowsAtCompileTime, ExpressionType::MaxColsAtCompileTime)
+  };
+  typedef Matrix<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> MatrixDiagType;
+  typedef Array<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> ArrayDiagType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixDiagType,
+    ArrayDiagType 
+  >::type type;
+};
+
+template<typename ExpressionType>
+struct is_lvalue
+{
+  enum { value = !bool(is_const<ExpressionType>::value) &&
+                 bool(traits<ExpressionType>::Flags & LvalueBit) };
+};
+
+} // end namespace internal
+
+#endif // EIGEN_XPRHELPER_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Block.h b/extern/Eigen3/Eigen/src/Eigen2Support/Block.h
new file mode 100644
index 00000000000..bc28051e017
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Block.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK2_H
+#define EIGEN_BLOCK2_H
+
+/** \returns a dynamic-size expression of a corner of *this.
+  *
+  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
+  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_corner_enum_int_int.cpp
+  * Output: \verbinclude MatrixBase_corner_enum_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<typename Derived>
+inline Block<Derived> DenseBase<Derived>
+  ::corner(CornerType type, Index cRows, Index cCols)
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived>(derived(), 0, 0, cRows, cCols);
+    case TopRight:
+      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+    case BottomLeft:
+      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+    case BottomRight:
+      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  }
+}
+
+/** This is the const version of corner(CornerType, Index, Index).*/
+template<typename Derived>
+inline const Block<Derived>
+DenseBase<Derived>::corner(CornerType type, Index cRows, Index cCols) const
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived>(derived(), 0, 0, cRows, cCols);
+    case TopRight:
+      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+    case BottomLeft:
+      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+    case BottomRight:
+      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  }
+}
+
+/** \returns a fixed-size expression of a corner of *this.
+  *
+  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
+  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
+  *
+  * The template parameters CRows and CCols arethe number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_corner_enum.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_corner_enum.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<typename Derived>
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols>
+DenseBase<Derived>::corner(CornerType type)
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived, CRows, CCols>(derived(), 0, 0);
+    case TopRight:
+      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+    case BottomLeft:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+    case BottomRight:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  }
+}
+
+/** This is the const version of corner<int, int>(CornerType).*/
+template<typename Derived>
+template<int CRows, int CCols>
+inline const Block<Derived, CRows, CCols>
+DenseBase<Derived>::corner(CornerType type) const
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived, CRows, CCols>(derived(), 0, 0);
+    case TopRight:
+      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+    case BottomLeft:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+    case BottomRight:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  }
+}
+
+#endif // EIGEN_BLOCK2_H
diff --git a/extern/Eigen2/Eigen/src/Core/Cwise.h b/extern/Eigen3/Eigen/src/Eigen2Support/Cwise.h
index 4dc9d514b04..2dc83b6a7dd 100644
--- a/extern/Eigen2/Eigen/src/Core/Cwise.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Cwise.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
@@ -29,30 +29,18 @@
 /** \internal
   * convenient macro to defined the return type of a cwise binary operation */
 #define EIGEN_CWISE_BINOP_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
-
-#define EIGEN_CWISE_PRODUCT_RETURN_TYPE \
-    CwiseBinaryOp< \
-      ei_scalar_product_op< \
-        typename ei_scalar_product_traits< \
-          typename ei_traits<ExpressionType>::Scalar, \
-          typename ei_traits<OtherDerived>::Scalar \
-        >::ReturnType \
-      >, \
-      ExpressionType, \
-      OtherDerived \
-    >
+    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
 
 /** \internal
   * convenient macro to defined the return type of a cwise unary operation */
 #define EIGEN_CWISE_UNOP_RETURN_TYPE(OP) \
-    CwiseUnaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType>
+    CwiseUnaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType>
 
 /** \internal
   * convenient macro to defined the return type of a cwise comparison to a scalar */
 #define EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename ei_traits<ExpressionType>::Scalar>, ExpressionType, \
-        NestByValue<typename ExpressionType::ConstantReturnType> >
+    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, \
+        typename ExpressionType::ConstantReturnType >
 
 /** \class Cwise
   *
@@ -64,21 +52,22 @@
   * It is the return type of MatrixBase::cwise()
   * and most of the time this is the only way it is used.
   *
-  * Note that some methods are defined in the \ref Array module.
-  *
   * Example: \include MatrixBase_cwise_const.cpp
   * Output: \verbinclude MatrixBase_cwise_const.out
   *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_CWISE_PLUGIN.
+  *
   * \sa MatrixBase::cwise() const, MatrixBase::cwise()
   */
 template<typename ExpressionType> class Cwise
 {
   public:
 
-    typedef typename ei_traits<ExpressionType>::Scalar Scalar;
-    typedef typename ei_meta_if<ei_must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::ret ExpressionTypeNested;
-    typedef CwiseUnaryOp<ei_scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
+    typedef typename internal::traits<ExpressionType>::Scalar Scalar;
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
+    typedef CwiseUnaryOp<internal::scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
 
     inline Cwise(const ExpressionType& matrix) : m_matrix(matrix) {}
 
@@ -86,32 +75,36 @@ template<typename ExpressionType> class Cwise
     inline const ExpressionType& _expression() const { return m_matrix; }
 
     template<typename OtherDerived>
-    const EIGEN_CWISE_PRODUCT_RETURN_TYPE
+    const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
     operator*(const MatrixBase<OtherDerived> &other) const;
 
     template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_quotient_op)
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
     operator/(const MatrixBase<OtherDerived> &other) const;
 
+    /** \deprecated ArrayBase::min() */
     template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_min_op)
-    min(const MatrixBase<OtherDerived> &other) const;
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)
+    (min)(const MatrixBase<OtherDerived> &other) const
+    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)(_expression(), other.derived()); }
 
+    /** \deprecated ArrayBase::max() */
     template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(ei_scalar_max_op)
-    max(const MatrixBase<OtherDerived> &other) const;
-
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs_op)      abs() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_abs2_op)     abs2() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_square_op)   square() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_cube_op)     cube() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_inverse_op)  inverse() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sqrt_op)     sqrt() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_exp_op)      exp() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_log_op)      log() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_cos_op)      cos() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sin_op)      sin() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op)      pow(const Scalar& exponent) const;
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)
+    (max)(const MatrixBase<OtherDerived> &other) const
+    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)(_expression(), other.derived()); }
+
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)      abs() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)     abs2() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)   square() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)     cube() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)  inverse() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)     sqrt() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)      exp() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)      log() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)      cos() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)      sin() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)      pow(const Scalar& exponent) const;
 
     const ScalarAddReturnType
     operator+(const Scalar& scalar) const;
@@ -178,11 +171,9 @@ template<typename ExpressionType> class Cwise
 
   protected:
     ExpressionTypeNested m_matrix;
-
-  private:
-    Cwise& operator=(const Cwise&);
 };
 
+
 /** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
   *
   * Example: \include MatrixBase_cwise_const.cpp
@@ -191,8 +182,7 @@ template<typename ExpressionType> class Cwise
   * \sa class Cwise, cwise()
   */
 template<typename Derived>
-inline const Cwise<Derived>
-MatrixBase<Derived>::cwise() const
+inline const Cwise<Derived> MatrixBase<Derived>::cwise() const
 {
   return derived();
 }
@@ -205,8 +195,7 @@ MatrixBase<Derived>::cwise() const
   * \sa class Cwise, cwise() const
   */
 template<typename Derived>
-inline Cwise<Derived>
-MatrixBase<Derived>::cwise()
+inline Cwise<Derived> MatrixBase<Derived>::cwise()
 {
   return derived();
 }
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/CwiseOperators.h b/extern/Eigen3/Eigen/src/Eigen2Support/CwiseOperators.h
new file mode 100644
index 00000000000..9c28559c329
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/CwiseOperators.h
@@ -0,0 +1,309 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAY_CWISE_OPERATORS_H
+#define EIGEN_ARRAY_CWISE_OPERATORS_H
+
+/***************************************************************************
+* The following functions were defined in Core
+***************************************************************************/
+
+
+/** \deprecated ArrayBase::abs() */
+template<typename ExpressionType>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)
+Cwise<ExpressionType>::abs() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::abs2() */
+template<typename ExpressionType>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)
+Cwise<ExpressionType>::abs2() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::exp() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)
+Cwise<ExpressionType>::exp() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::log() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)
+Cwise<ExpressionType>::log() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::operator*() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
+Cwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator/() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+Cwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator*=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline ExpressionType& Cwise<ExpressionType>::operator*=(const MatrixBase<OtherDerived> &other)
+{
+  return m_matrix.const_cast_derived() = *this * other;
+}
+
+/** \deprecated ArrayBase::operator/=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline ExpressionType& Cwise<ExpressionType>::operator/=(const MatrixBase<OtherDerived> &other)
+{
+  return m_matrix.const_cast_derived() = *this / other;
+}
+
+/***************************************************************************
+* The following functions were defined in Array
+***************************************************************************/
+
+// -- unary operators --
+
+/** \deprecated ArrayBase::sqrt() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)
+Cwise<ExpressionType>::sqrt() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::cos() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)
+Cwise<ExpressionType>::cos() const
+{
+  return _expression();
+}
+
+
+/** \deprecated ArrayBase::sin() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)
+Cwise<ExpressionType>::sin() const
+{
+  return _expression();
+}
+
+
+/** \deprecated ArrayBase::log() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)
+Cwise<ExpressionType>::pow(const Scalar& exponent) const
+{
+  return EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)(_expression(), internal::scalar_pow_op<Scalar>(exponent));
+}
+
+
+/** \deprecated ArrayBase::inverse() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)
+Cwise<ExpressionType>::inverse() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::square() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)
+Cwise<ExpressionType>::square() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::cube() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)
+Cwise<ExpressionType>::cube() const
+{
+  return _expression();
+}
+
+
+// -- binary operators --
+
+/** \deprecated ArrayBase::operator<() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
+Cwise<ExpressionType>::operator<(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::<=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
+Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator>() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
+Cwise<ExpressionType>::operator>(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator>=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
+Cwise<ExpressionType>::operator>=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator==() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
+Cwise<ExpressionType>::operator==(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator!=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
+Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)(_expression(), other.derived());
+}
+
+// comparisons to scalar value
+
+/** \deprecated ArrayBase::operator<(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
+Cwise<ExpressionType>::operator<(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator<=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
+Cwise<ExpressionType>::operator<=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator>(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
+Cwise<ExpressionType>::operator>(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator>=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
+Cwise<ExpressionType>::operator>=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator==(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
+Cwise<ExpressionType>::operator==(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator!=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
+Cwise<ExpressionType>::operator!=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+// scalar addition
+
+/** \deprecated ArrayBase::operator+(Scalar) */
+template<typename ExpressionType>
+inline const typename Cwise<ExpressionType>::ScalarAddReturnType
+Cwise<ExpressionType>::operator+(const Scalar& scalar) const
+{
+  return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, internal::scalar_add_op<Scalar>(scalar));
+}
+
+/** \deprecated ArrayBase::operator+=(Scalar) */
+template<typename ExpressionType>
+inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar)
+{
+  return m_matrix.const_cast_derived() = *this + scalar;
+}
+
+/** \deprecated ArrayBase::operator-(Scalar) */
+template<typename ExpressionType>
+inline const typename Cwise<ExpressionType>::ScalarAddReturnType
+Cwise<ExpressionType>::operator-(const Scalar& scalar) const
+{
+  return *this + (-scalar);
+}
+
+/** \deprecated ArrayBase::operator-=(Scalar) */
+template<typename ExpressionType>
+inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar)
+{
+  return m_matrix.const_cast_derived() = *this - scalar;
+}
+
+#endif // EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/AlignedBox.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
index 14ec9261e3a..78df29d408a 100644
--- a/extern/Eigen2/Eigen/src/Geometry/AlignedBox.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ALIGNEDBOX_H
-#define EIGEN_ALIGNEDBOX_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 /** \geometry_module \ingroup Geometry_Module
   * \nonstableyet
@@ -64,7 +63,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : int(AmbientDimAtCompileTime); }
 
   /** \returns true if the box is null, i.e, empty. */
   inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
@@ -72,18 +71,18 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   /** Makes \c *this a null/empty box. */
   inline void setNull()
   {
-    m_min.setConstant( std::numeric_limits<Scalar>::max());
-    m_max.setConstant(-std::numeric_limits<Scalar>::max());
+    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
+    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
   }
 
   /** \returns the minimal corner */
-  inline const VectorType& min() const { return m_min; }
+  inline const VectorType& (min)() const { return m_min; }
   /** \returns a non const reference to the minimal corner */
-  inline VectorType& min() { return m_min; }
+  inline VectorType& (min)() { return m_min; }
   /** \returns the maximal corner */
-  inline const VectorType& max() const { return m_max; }
+  inline const VectorType& (max)() const { return m_max; }
   /** \returns a non const reference to the maximal corner */
-  inline VectorType& max() { return m_max; }
+  inline VectorType& (max)() { return m_max; }
 
   /** \returns true if the point \a p is inside the box \c *this. */
   inline bool contains(const VectorType& p) const
@@ -91,19 +90,19 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
 
   /** \returns true if the box \a b is entirely inside the box \c *this. */
   inline bool contains(const AlignedBox& b) const
-  { return (m_min.cwise()<=b.min()).all() && (b.max().cwise()<=m_max).all(); }
+  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
 
   /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
   inline AlignedBox& extend(const VectorType& p)
-  { m_min = m_min.cwise().min(p); m_max = m_max.cwise().max(p); return *this; }
+  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
 
   /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
   inline AlignedBox& extend(const AlignedBox& b)
-  { m_min = m_min.cwise().min(b.m_min); m_max = m_max.cwise().max(b.m_max); return *this; }
+  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
 
   /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
   inline AlignedBox& clamp(const AlignedBox& b)
-  { m_min = m_min.cwise().max(b.m_min); m_max = m_max.cwise().min(b.m_max); return *this; }
+  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
 
   /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
   inline AlignedBox& translate(const VectorType& t)
@@ -128,10 +127,10 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<AlignedBox,
+  inline typename internal::cast_return_type<AlignedBox,
            AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
   {
-    return typename ei_cast_return_type<AlignedBox,
+    return typename internal::cast_return_type<AlignedBox,
                     AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
   }
 
@@ -139,8 +138,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   template<typename OtherScalarType>
   inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
   {
-    m_min = other.min().template cast<Scalar>();
-    m_max = other.max().template cast<Scalar>();
+    m_min = (other.min)().template cast<Scalar>();
+    m_max = (other.max)().template cast<Scalar>();
   }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
@@ -169,5 +168,3 @@ inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const Vecto
   }
   return dist2;
 }
-
-#endif // EIGEN_ALIGNEDBOX_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/All.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/All.h
new file mode 100644
index 00000000000..9d8244b07a0
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/All.h
@@ -0,0 +1,115 @@
+#ifndef EIGEN2_GEOMETRY_MODULE_H
+#define EIGEN2_GEOMETRY_MODULE_H
+
+#include <limits>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+#include "RotationBase.h"
+#include "Rotation2D.h"
+#include "Quaternion.h"
+#include "AngleAxis.h"
+#include "Transform.h"
+#include "Translation.h"
+#include "Scaling.h"
+#include "AlignedBox.h"
+#include "Hyperplane.h"
+#include "ParametrizedLine.h"
+#endif
+
+
+#define RotationBase eigen2_RotationBase
+#define Rotation2D eigen2_Rotation2D
+#define Rotation2Df eigen2_Rotation2Df
+#define Rotation2Dd eigen2_Rotation2Dd
+
+#define Quaternion  eigen2_Quaternion
+#define Quaternionf eigen2_Quaternionf
+#define Quaterniond eigen2_Quaterniond
+
+#define AngleAxis eigen2_AngleAxis
+#define AngleAxisf eigen2_AngleAxisf
+#define AngleAxisd eigen2_AngleAxisd
+
+#define Transform   eigen2_Transform
+#define Transform2f eigen2_Transform2f
+#define Transform2d eigen2_Transform2d
+#define Transform3f eigen2_Transform3f
+#define Transform3d eigen2_Transform3d
+
+#define Translation eigen2_Translation
+#define Translation2f eigen2_Translation2f
+#define Translation2d eigen2_Translation2d
+#define Translation3f eigen2_Translation3f
+#define Translation3d eigen2_Translation3d
+
+#define Scaling eigen2_Scaling
+#define Scaling2f eigen2_Scaling2f
+#define Scaling2d eigen2_Scaling2d
+#define Scaling3f eigen2_Scaling3f
+#define Scaling3d eigen2_Scaling3d
+
+#define AlignedBox eigen2_AlignedBox
+
+#define Hyperplane eigen2_Hyperplane
+#define ParametrizedLine eigen2_ParametrizedLine
+
+#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
+#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
+#define ei_transform_product_impl eigen2_ei_transform_product_impl
+
+#include "RotationBase.h"
+#include "Rotation2D.h"
+#include "Quaternion.h"
+#include "AngleAxis.h"
+#include "Transform.h"
+#include "Translation.h"
+#include "Scaling.h"
+#include "AlignedBox.h"
+#include "Hyperplane.h"
+#include "ParametrizedLine.h"
+
+#undef ei_toRotationMatrix
+#undef ei_quaternion_assign_impl
+#undef ei_transform_product_impl
+
+#undef RotationBase
+#undef Rotation2D
+#undef Rotation2Df
+#undef Rotation2Dd
+
+#undef Quaternion
+#undef Quaternionf
+#undef Quaterniond
+
+#undef AngleAxis
+#undef AngleAxisf
+#undef AngleAxisd
+
+#undef Transform
+#undef Transform2f
+#undef Transform2d
+#undef Transform3f
+#undef Transform3d
+
+#undef Translation
+#undef Translation2f
+#undef Translation2d
+#undef Translation3f
+#undef Translation3d
+
+#undef Scaling
+#undef Scaling2f
+#undef Scaling2d
+#undef Scaling3f
+#undef Scaling3d
+
+#undef AlignedBox
+
+#undef Hyperplane
+#undef ParametrizedLine
+
+#endif // EIGEN2_GEOMETRY_MODULE_H
\ No newline at end of file
diff --git a/extern/Eigen2/Eigen/src/Geometry/AngleAxis.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
index 91e3d0d61ec..f7b2d51e3e2 100644
--- a/extern/Eigen2/Eigen/src/Geometry/AngleAxis.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ANGLEAXIS_H
-#define EIGEN_ANGLEAXIS_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -139,8 +139,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename ei_cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
+  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -224,5 +224,3 @@ AngleAxis<Scalar>::toRotationMatrix(void) const
 
   return res;
 }
-
-#endif // EIGEN_ANGLEAXIS_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Hyperplane.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
index 22c530d4be0..81c4f55b173 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Hyperplane.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
@@ -23,8 +23,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_HYPERPLANE_H
-#define EIGEN_HYPERPLANE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -52,9 +51,9 @@ public:
   typedef _Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime==Dynamic
+  typedef Matrix<Scalar,int(AmbientDimAtCompileTime)==Dynamic
                         ? Dynamic
-                        : AmbientDimAtCompileTime+1,1> Coefficients;
+                        : int(AmbientDimAtCompileTime)+1,1> Coefficients;
   typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
 
   /** Default constructor without initialization */
@@ -71,7 +70,7 @@ public:
     : m_coeffs(n.size()+1)
   {
     normal() = n;
-    offset() = -e.dot(n);
+    offset() = -e.eigen2_dot(n);
   }
 
   /** Constructs a plane from its normal \a n and distance to the origin \a d
@@ -92,7 +91,7 @@ public:
   {
     Hyperplane result(p0.size());
     result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -result.normal().eigen2_dot(p0);
     return result;
   }
 
@@ -104,7 +103,7 @@ public:
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
     Hyperplane result(p0.size());
     result.normal() = (p2 - p0).cross(p1 - p0).normalized();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -result.normal().eigen2_dot(p0);
     return result;
   }
 
@@ -116,13 +115,13 @@ public:
   explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
-    offset() = -normal().dot(parametrized.origin());
+    offset() = -normal().eigen2_dot(parametrized.origin());
   }
 
   ~Hyperplane() {}
 
   /** \returns the dimension in which the plane holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : AmbientDimAtCompileTime; }
+  inline int dim() const { return int(AmbientDimAtCompileTime)==Dynamic ? m_coeffs.size()-1 : int(AmbientDimAtCompileTime); }
 
   /** normalizes \c *this */
   void normalize(void)
@@ -133,7 +132,7 @@ public:
   /** \returns the signed distance between the plane \c *this and a point \a p.
     * \sa absDistance()
     */
-  inline Scalar signedDistance(const VectorType& p) const { return p.dot(normal()) + offset(); }
+  inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
 
   /** \returns the absolute distance between the plane \c *this and a point \a p.
     * \sa signedDistance()
@@ -147,7 +146,7 @@ public:
   /** \returns a constant reference to the unit normal vector of the plane, which corresponds
     * to the linear part of the implicit equation.
     */
-  inline const NormalReturnType normal() const { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+  inline const NormalReturnType normal() const { return NormalReturnType(*const_cast<Coefficients*>(&m_coeffs),0,0,dim(),1); }
 
   /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
     * to the linear part of the implicit equation.
@@ -231,7 +230,7 @@ public:
                                 TransformTraits traits = Affine)
   {
     transform(t.linear(), traits);
-    offset() -= t.translation().dot(normal());
+    offset() -= t.translation().eigen2_dot(normal());
     return *this;
   }
 
@@ -241,10 +240,10 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Hyperplane,
+  inline typename internal::cast_return_type<Hyperplane,
            Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
   {
-    return typename ei_cast_return_type<Hyperplane,
+    return typename internal::cast_return_type<Hyperplane,
                     Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
   }
 
@@ -264,5 +263,3 @@ protected:
 
   Coefficients m_coeffs;
 };
-
-#endif // EIGEN_HYPERPLANE_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
index 2b990d084f0..411c4b57079 100644
--- a/extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
@@ -23,8 +23,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_PARAMETRIZEDLINE_H
-#define EIGEN_PARAMETRIZEDLINE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -85,7 +85,7 @@ public:
   RealScalar squaredDistance(const VectorType& p) const
   {
     VectorType diff = p-origin();
-    return (diff - diff.dot(direction())* direction()).squaredNorm();
+    return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
   }
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
@@ -94,7 +94,7 @@ public:
 
   /** \returns the projection of a point \a p onto the line \c *this. */
   VectorType projection(const VectorType& p) const
-  { return origin() + (p-origin()).dot(direction()) * direction(); }
+  { return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
 
   Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
 
@@ -104,10 +104,10 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<ParametrizedLine,
+  inline typename internal::cast_return_type<ParametrizedLine,
            ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
   {
-    return typename ei_cast_return_type<ParametrizedLine,
+    return typename internal::cast_return_type<ParametrizedLine,
                     ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
   }
 
@@ -148,8 +148,6 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
 template <typename _Scalar, int _AmbientDim>
 inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
 {
-  return -(hyperplane.offset()+origin().dot(hyperplane.normal()))
-          /(direction().dot(hyperplane.normal()));
+  return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
+          /(direction().eigen2_dot(hyperplane.normal()));
 }
-
-#endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Quaternion.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h
index 3fcbff4e71d..a75fa42aeac 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Quaternion.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_QUATERNION_H
-#define EIGEN_QUATERNION_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 template<typename Other,
          int OtherRows=Other::RowsAtCompileTime,
@@ -98,7 +97,7 @@ public:
   inline Scalar& w() { return m_coeffs.coeffRef(3); }
 
   /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const Block<Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
+  inline const Block<const Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
 
   /** \returns a vector expression of the imaginary part (x,y,z) */
   inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
@@ -172,7 +171,7 @@ public:
     * corresponds to the cosine of half the angle between the two rotations.
     * \sa angularDistance()
     */
-  inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); }
+  inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
 
   inline Scalar angularDistance(const Quaternion& other) const;
 
@@ -198,8 +197,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
-  { return typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
+  inline typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -225,7 +224,7 @@ typedef Quaternion<float> Quaternionf;
 typedef Quaternion<double> Quaterniond;
 
 // Generic Quaternion * Quaternion product
-template<int Arch,typename Scalar> inline Quaternion<Scalar>
+template<typename Scalar> inline Quaternion<Scalar>
 ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
 {
   return Quaternion<Scalar>
@@ -237,32 +236,11 @@ ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
   );
 }
 
-#ifdef EIGEN_VECTORIZE_SSE
-template<> inline Quaternion<float>
-ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quaternion<float>& _b)
-{
-  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
-  Quaternion<float> res;
-  __m128 a = _a.coeffs().packet<Aligned>(0);
-  __m128 b = _b.coeffs().packet<Aligned>(0);
-  __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
-                                       ei_vec4f_swizzle1(b,2,0,1,2)),mask);
-  __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
-                                       ei_vec4f_swizzle1(b,0,1,2,1)),mask);
-  ei_pstore(&res.x(),
-            _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
-                                  _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
-                                             ei_vec4f_swizzle1(b,1,2,0,0))),
-                       _mm_add_ps(flip1,flip2)));
-  return res;
-}
-#endif
-
 /** \returns the concatenation of two rotations as a quaternion-quaternion product */
 template <typename Scalar>
 inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
 {
-  return ei_quaternion_product<EiArch>(*this,other);
+  return ei_quaternion_product(*this,other);
 }
 
 /** \sa operator*(Quaternion) */
@@ -374,7 +352,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
 {
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
-  Scalar c = v0.dot(v1);
+  Scalar c = v0.eigen2_dot(v1);
 
   // if dot == 1, vectors are the same
   if (ei_isApprox(c,Scalar(1)))
@@ -433,12 +411,12 @@ inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
 }
 
 /** \returns the angle (in radian) between two rotations
-  * \sa dot()
+  * \sa eigen2_dot()
   */
 template <typename Scalar>
 inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
 {
-  double d = ei_abs(this->dot(other));
+  double d = ei_abs(this->eigen2_dot(other));
   if (d>=1.0)
     return 0;
   return Scalar(2) * std::acos(d);
@@ -450,22 +428,31 @@ inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
 template <typename Scalar>
 Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
 {
-  static const Scalar one = Scalar(1) - precision<Scalar>();
-  Scalar d = this->dot(other);
+  static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
+  Scalar d = this->eigen2_dot(other);
   Scalar absD = ei_abs(d);
-  if (absD>=one)
-    return *this;
 
-  // theta is the angle between the 2 quaternions
-  Scalar theta = std::acos(absD);
-  Scalar sinTheta = ei_sin(theta);
+  Scalar scale0;
+  Scalar scale1;
 
-  Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
-  Scalar scale1 = ei_sin( ( t * theta) ) / sinTheta;
-  if (d<0)
-    scale1 = -scale1;
+  if (absD>=one)
+  {
+    scale0 = Scalar(1) - t;
+    scale1 = t;
+  }
+  else
+  {
+    // theta is the angle between the 2 quaternions
+    Scalar theta = std::acos(absD);
+    Scalar sinTheta = ei_sin(theta);
+
+    scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
+    scale1 = ei_sin( ( t * theta) ) / sinTheta;
+    if (d<0)
+      scale1 = -scale1;
+  }
 
-  return Quaternion(scale0 * m_coeffs + scale1 * other.m_coeffs);
+  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
 }
 
 // set from a rotation matrix
@@ -517,5 +504,3 @@ struct ei_quaternion_assign_impl<Other,4,1>
     q.coeffs() = vec;
   }
 };
-
-#endif // EIGEN_QUATERNION_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Rotation2D.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
index dca7f06bf5d..ee7c80e7eaa 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Rotation2D.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ROTATION2D_H
-#define EIGEN_ROTATION2D_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -107,8 +107,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
-  { return typename ei_cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
+  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -155,5 +155,3 @@ Rotation2D<Scalar>::toRotationMatrix(void) const
   Scalar cosA = ei_cos(m_angle);
   return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
 }
-
-#endif // EIGEN_ROTATION2D_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/RotationBase.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h
index 5fec0f18d72..2f494f198bd 100644
--- a/extern/Eigen2/Eigen/src/Geometry/RotationBase.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ROTATIONBASE_H
-#define EIGEN_ROTATIONBASE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 // this file aims to contains the various representations of rotation/orientation
 // in 2D and 3D space excepted Matrix and Quaternion.
@@ -133,5 +132,3 @@ inline static const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBa
     YOU_MADE_A_PROGRAMMING_MISTAKE)
   return mat;
 }
-
-#endif // EIGEN_ROTATIONBASE_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Scaling.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h
index 5daf0a49961..108e6d7d58f 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Scaling.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_SCALING_H
-#define EIGEN_SCALING_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -132,8 +132,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const
-  { return typename ei_cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); }
+  inline typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -177,5 +177,3 @@ Scaling<Scalar,Dim>::operator* (const TransformType& t) const
   res.prescale(m_coeffs);
   return res;
 }
-
-#endif // EIGEN_SCALING_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h
index 8425a1cd963..88956c86c73 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Transform.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h
@@ -23,15 +23,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_TRANSFORM_H
-#define EIGEN_TRANSFORM_H
-
-/** Represents some traits of a transformation */
-enum TransformTraits {
-  Isometry,       ///< the transformation is a concatenation of translations and rotations
-  Affine,         ///< the transformation is affine (linear transformation + translation)
-  Projective      ///< the transformation might not be affine
-};
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 // Note that we have to pass Dim and HDim because it is not allowed to use a template
 // parameter to define a template specialization. To be more precise, in the following
@@ -77,10 +70,14 @@ public:
   typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
   /** type of read/write reference to the linear part of the transformation */
   typedef Block<MatrixType,Dim,Dim> LinearPart;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef const Block<const MatrixType,Dim,Dim> ConstLinearPart;
   /** type of a vector */
   typedef Matrix<Scalar,Dim,1> VectorType;
   /** type of a read/write reference to the translation part of the rotation */
   typedef Block<MatrixType,Dim,1> TranslationPart;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef const Block<const MatrixType,Dim,1> ConstTranslationPart;
   /** corresponding translation type */
   typedef Translation<Scalar,Dim> TranslationType;
   /** corresponding scaling transformation type */
@@ -162,12 +159,12 @@ public:
   inline MatrixType& matrix() { return m_matrix; }
 
   /** \returns a read-only expression of the linear (linear) part of the transformation */
-  inline const LinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
   /** \returns a writable expression of the linear (linear) part of the transformation */
   inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
 
   /** \returns a read-only expression of the translation vector of the transformation */
-  inline const TranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
+  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
   /** \returns a writable expression of the translation vector of the transformation */
   inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
 
@@ -272,8 +269,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Transform,Transform<NewScalarType,Dim> >::type cast() const
-  { return typename ei_cast_return_type<Transform,Transform<NewScalarType,Dim> >::type(*this); }
+  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -635,7 +632,20 @@ template<typename Scalar, int Dim>
 template<typename RotationMatrixType, typename ScalingMatrixType>
 void Transform<Scalar,Dim>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
 {
-  linear().svd().computeRotationScaling(rotation, scaling);
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling)
+  {
+    scaling->noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
+  }
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->noalias() = m * svd.matrixV().adjoint();
+  }
 }
 
 /** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
@@ -653,7 +663,20 @@ template<typename Scalar, int Dim>
 template<typename ScalingMatrixType, typename RotationMatrixType>
 void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
 {
-  linear().svd().computeScalingRotation(scaling, rotation);
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling)
+  {
+    scaling->noalias() = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
+  }
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->noalias() = m * svd.matrixV().adjoint();
+  }
 }
 
 /** Convenient method to set \c *this from a position, orientation and scale
@@ -768,18 +791,8 @@ struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
 {
   typedef typename Other::Scalar Scalar;
   typedef Transform<Scalar,Dim> TransformType;
-  typedef typename TransformType::LinearPart MatrixType;
-  typedef const CwiseUnaryOp<
-      ei_scalar_multiple_op<Scalar>,
-      NestByValue<CwiseBinaryOp<
-        ei_scalar_sum_op<Scalar>,
-        NestByValue<typename ProductReturnType<NestByValue<MatrixType>,Other>::Type >,
-        NestByValue<typename TransformType::TranslationPart> > >
-      > ResultType;
-  // FIXME should we offer an optimized version when the last row is known to be 0,0...,0,1 ?
+  typedef Matrix<Scalar,Dim,1> ResultType;
   static ResultType run(const TransformType& tr, const Other& other)
-  { return ((tr.linear().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
+  { return ((tr.linear() * other) + tr.translation())
           * (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
 };
-
-#endif // EIGEN_TRANSFORM_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/Translation.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h
index 4b2fc7a56fc..e651e310212 100644
--- a/extern/Eigen2/Eigen/src/Geometry/Translation.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_TRANSLATION_H
-#define EIGEN_TRANSLATION_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -135,8 +135,8 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename ei_cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
-  { return typename ei_cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
+  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
@@ -194,5 +194,3 @@ Translation<Scalar,Dim>::operator* (const TransformType& t) const
   res.pretranslate(m_coeffs);
   return res;
 }
-
-#endif // EIGEN_TRANSLATION_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/LU.h b/extern/Eigen3/Eigen/src/Eigen2Support/LU.h
new file mode 100644
index 00000000000..c23c11baa72
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/LU.h
@@ -0,0 +1,133 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_LU_H
+#define EIGEN2_LU_H
+
+template<typename MatrixType>
+class LU : public FullPivLU<MatrixType>
+{
+  public:
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> IntRowVectorType;
+    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> IntColVectorType;
+    typedef Matrix<Scalar, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> RowVectorType;
+    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> ColVectorType;
+
+    typedef Matrix<typename MatrixType::Scalar,
+                  MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" is the number of cols of the original matrix
+                                                 // so that the product "matrix * kernel = zero" makes sense
+                  Dynamic,                       // we don't know at compile-time the dimension of the kernel
+                  MatrixType::Options,
+                  MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
+                  MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, whose dimension is the number
+                                                   // of columns of the original matrix
+    > KernelResultType;
+
+    typedef Matrix<typename MatrixType::Scalar,
+                   MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose dimension is the number
+                                                  // of rows of the original matrix
+                   Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
+                   MatrixType::Options,
+                   MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
+                   MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
+    > ImageResultType;
+
+    typedef FullPivLU<MatrixType> Base;
+    LU() : Base() {}
+
+    template<typename T>
+    explicit LU(const T& t) : Base(t), m_originalMatrix(t) {}
+
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = static_cast<const Base*>(this)->solve(b);
+      return true;
+    }
+
+    template<typename ResultType>
+    inline void computeInverse(ResultType *result) const
+    {
+      solve(MatrixType::Identity(this->rows(), this->cols()), result);
+    }
+    
+    template<typename KernelMatrixType>
+    void computeKernel(KernelMatrixType *result) const
+    {
+      *result = static_cast<const Base*>(this)->kernel();
+    }
+    
+    template<typename ImageMatrixType>
+    void computeImage(ImageMatrixType *result) const
+    {
+      *result = static_cast<const Base*>(this)->image(m_originalMatrix);
+    }
+    
+    const ImageResultType image() const
+    {
+      return static_cast<const Base*>(this)->image(m_originalMatrix);
+    }
+    
+    const MatrixType& m_originalMatrix;
+};
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const LU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::lu() const
+{
+  return LU<PlainObject>(eval());
+}
+#endif
+
+#ifdef EIGEN2_SUPPORT
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const LU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::eigen2_lu() const
+{
+  return LU<PlainObject>(eval());
+}
+#endif
+
+
+#endif // EIGEN2_LU_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Lazy.h b/extern/Eigen3/Eigen/src/Eigen2Support/Lazy.h
new file mode 100644
index 00000000000..c4288ede2ef
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Lazy.h
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LAZY_H
+#define EIGEN_LAZY_H
+
+/** \deprecated it is only used by lazy() which is deprecated
+  *
+  * \returns an expression of *this with added flags
+  *
+  * Example: \include MatrixBase_marked.cpp
+  * Output: \verbinclude MatrixBase_marked.out
+  *
+  * \sa class Flagged, extract(), part()
+  */
+template<typename Derived>
+template<unsigned int Added>
+inline const Flagged<Derived, Added, 0>
+MatrixBase<Derived>::marked() const
+{
+  return derived();
+}
+
+/** \deprecated use MatrixBase::noalias()
+  *
+  * \returns an expression of *this with the EvalBeforeAssigningBit flag removed.
+  *
+  * Example: \include MatrixBase_lazy.cpp
+  * Output: \verbinclude MatrixBase_lazy.out
+  *
+  * \sa class Flagged, marked()
+  */
+template<typename Derived>
+inline const Flagged<Derived, 0, EvalBeforeAssigningBit>
+MatrixBase<Derived>::lazy() const
+{
+  return derived();
+}
+
+
+/** \internal
+  * Overloaded to perform an efficient C += (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                                       EvalBeforeAssigningBit>& other)
+{
+  other._expression().derived().addTo(derived()); return derived();
+}
+
+/** \internal
+  * Overloaded to perform an efficient C -= (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                                       EvalBeforeAssigningBit>& other)
+{
+  other._expression().derived().subTo(derived()); return derived();
+}
+
+#endif // EIGEN_LAZY_H
diff --git a/extern/Eigen2/Eigen/src/LeastSquares/LeastSquares.h b/extern/Eigen3/Eigen/src/Eigen2Support/LeastSquares.h
index b2595ede1fe..4b62ffa92c7 100644
--- a/extern/Eigen2/Eigen/src/LeastSquares/LeastSquares.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/LeastSquares.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_LEASTSQUARES_H
-#define EIGEN_LEASTSQUARES_H
+#ifndef EIGEN2_LEASTSQUARES_H
+#define EIGEN2_LEASTSQUARES_H
 
 /** \ingroup LeastSquares_Module
   *
@@ -179,4 +179,4 @@ void fitHyperplane(int numPoints,
 }
 
 
-#endif // EIGEN_LEASTSQUARES_H
+#endif // EIGEN2_LEASTSQUARES_H
diff --git a/extern/Eigen2/Eigen/src/Cholesky/CholeskyInstantiations.cpp b/extern/Eigen3/Eigen/src/Eigen2Support/Macros.h
index e7f40a2ce9c..77e85a41e3d 100644
--- a/extern/Eigen2/Eigen/src/Cholesky/CholeskyInstantiations.cpp
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Macros.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -22,14 +22,14 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_EXTERN_INSTANTIATIONS
-#define EIGEN_EXTERN_INSTANTIATIONS
-#endif
-#include "../../Core"
-#undef EIGEN_EXTERN_INSTANTIATIONS
+#ifndef EIGEN2_MACROS_H
+#define EIGEN2_MACROS_H
 
-#include "../../Cholesky"
+#define ei_assert eigen_assert
+#define ei_internal_assert eigen_internal_assert
 
-namespace Eigen {
-  EIGEN_CHOLESKY_MODULE_INSTANTIATE();
-}
+#define EIGEN_ALIGN_128 EIGEN_ALIGN16
+
+#define EIGEN_ARCH_WANTS_ALIGNMENT EIGEN_ALIGN_STATICALLY
+
+#endif // EIGEN2_MACROS_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/MathFunctions.h b/extern/Eigen3/Eigen/src/Eigen2Support/MathFunctions.h
new file mode 100644
index 00000000000..caa44e63f32
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/MathFunctions.h
@@ -0,0 +1,68 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_MATH_FUNCTIONS_H
+#define EIGEN2_MATH_FUNCTIONS_H
+
+template<typename T> inline typename NumTraits<T>::Real ei_real(const T& x) { return internal::real(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_imag(const T& x) { return internal::imag(x); }
+template<typename T> inline T ei_conj(const T& x) { return internal::conj(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_abs (const T& x) { return internal::abs(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_abs2(const T& x) { return internal::abs2(x); }
+template<typename T> inline T ei_sqrt(const T& x) { return internal::sqrt(x); }
+template<typename T> inline T ei_exp (const T& x) { return internal::exp(x); }
+template<typename T> inline T ei_log (const T& x) { return internal::log(x); }
+template<typename T> inline T ei_sin (const T& x) { return internal::sin(x); }
+template<typename T> inline T ei_cos (const T& x) { return internal::cos(x); }
+template<typename T> inline T ei_atan2(const T& x,const T& y) { return internal::atan2(x,y); }
+template<typename T> inline T ei_pow (const T& x,const T& y) { return internal::pow(x,y); }
+template<typename T> inline T ei_random () { return internal::random<T>(); }
+template<typename T> inline T ei_random (const T& x, const T& y) { return internal::random(x, y); }
+
+template<typename T> inline T precision () { return NumTraits<T>::dummy_precision(); }
+template<typename T> inline T machine_epsilon () { return NumTraits<T>::epsilon(); }
+
+
+template<typename Scalar, typename OtherScalar>
+inline bool ei_isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
+                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isMuchSmallerThan(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool ei_isApprox(const Scalar& x, const Scalar& y,
+                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isApprox(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool ei_isApproxOrLessThan(const Scalar& x, const Scalar& y,
+                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isApproxOrLessThan(x, y, precision);
+}
+
+#endif // EIGEN2_MATH_FUNCTIONS_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Memory.h b/extern/Eigen3/Eigen/src/Eigen2Support/Memory.h
new file mode 100644
index 00000000000..0283475419e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Memory.h
@@ -0,0 +1,58 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_MEMORY_H
+#define EIGEN2_MEMORY_H
+
+inline void* ei_aligned_malloc(size_t size) { return internal::aligned_malloc(size); }
+inline void  ei_aligned_free(void *ptr) { internal::aligned_free(ptr); }
+inline void* ei_aligned_realloc(void *ptr, size_t new_size, size_t old_size) { return internal::aligned_realloc(ptr, new_size, old_size); }
+inline void* ei_handmade_aligned_malloc(size_t size) { return internal::handmade_aligned_malloc(size); }
+inline void  ei_handmade_aligned_free(void *ptr) { internal::handmade_aligned_free(ptr); }
+
+template<bool Align> inline void* ei_conditional_aligned_malloc(size_t size)
+{
+  return internal::conditional_aligned_malloc<Align>(size);
+}
+template<bool Align> inline void ei_conditional_aligned_free(void *ptr)
+{
+  internal::conditional_aligned_free<Align>(ptr);
+}
+template<bool Align> inline void* ei_conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
+{
+  return internal::conditional_aligned_realloc<Align>(ptr, new_size, old_size);
+}
+
+template<typename T> inline T* ei_aligned_new(size_t size)
+{
+  return internal::aligned_new<T>(size);
+}
+template<typename T> inline void ei_aligned_delete(T *ptr, size_t size)
+{
+  return internal::aligned_delete(ptr, size);
+}
+
+
+
+#endif // EIGEN2_MACROS_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Meta.h b/extern/Eigen3/Eigen/src/Eigen2Support/Meta.h
new file mode 100644
index 00000000000..6e500b79a2e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Meta.h
@@ -0,0 +1,86 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_META_H
+#define EIGEN2_META_H
+
+template<typename T>
+struct ei_traits : internal::traits<T>
+{};
+
+struct ei_meta_true {  enum { ret = 1 }; };
+struct ei_meta_false { enum { ret = 0 }; };
+
+template<bool Condition, typename Then, typename Else>
+struct ei_meta_if { typedef Then ret; };
+
+template<typename Then, typename Else>
+struct ei_meta_if <false, Then, Else> { typedef Else ret; };
+
+template<typename T, typename U> struct ei_is_same_type { enum { ret = 0 }; };
+template<typename T> struct ei_is_same_type<T,T> { enum { ret = 1 }; };
+
+template<typename T> struct ei_unref { typedef T type; };
+template<typename T> struct ei_unref<T&> { typedef T type; };
+
+template<typename T> struct ei_unpointer { typedef T type; };
+template<typename T> struct ei_unpointer<T*> { typedef T type; };
+template<typename T> struct ei_unpointer<T*const> { typedef T type; };
+
+template<typename T> struct ei_unconst { typedef T type; };
+template<typename T> struct ei_unconst<const T> { typedef T type; };
+template<typename T> struct ei_unconst<T const &> { typedef T & type; };
+template<typename T> struct ei_unconst<T const *> { typedef T * type; };
+
+template<typename T> struct ei_cleantype { typedef T type; };
+template<typename T> struct ei_cleantype<const T>   { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<const T&>  { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<T&>        { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
+
+/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
+  * Usage example: \code ei_meta_sqrt<1023>::ret \endcode
+  */
+template<int Y,
+         int InfX = 0,
+         int SupX = ((Y==1) ? 1 : Y/2),
+         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
+                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
+class ei_meta_sqrt
+{
+    enum {
+      MidX = (InfX+SupX)/2,
+      TakeInf = MidX*MidX > Y ? 1 : 0,
+      NewInf = int(TakeInf) ? InfX : int(MidX),
+      NewSup = int(TakeInf) ? int(MidX) : SupX
+    };
+  public:
+    enum { ret = ei_meta_sqrt<Y,NewInf,NewSup>::ret };
+};
+
+template<int Y, int InfX, int SupX>
+class ei_meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
+
+#endif // EIGEN2_META_H
diff --git a/extern/Eigen2/Eigen/src/Core/Minor.h b/extern/Eigen3/Eigen/src/Eigen2Support/Minor.h
index e2d47da79c2..eda91cc32be 100644
--- a/extern/Eigen2/Eigen/src/Core/Minor.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/Minor.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,7 +25,7 @@
 #ifndef EIGEN_MINOR_H
 #define EIGEN_MINOR_H
 
-/** \nonstableyet 
+/**
   * \class Minor
   *
   * \brief Expression of a minor
@@ -38,12 +38,15 @@
   *
   * \sa MatrixBase::minor()
   */
+
+namespace internal {
 template<typename MatrixType>
-struct ei_traits<Minor<MatrixType> >
+struct traits<Minor<MatrixType> >
+ : traits<MatrixType>
 {
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
-  typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef typename MatrixType::StorageKind StorageKind;
   enum {
     RowsAtCompileTime = (MatrixType::RowsAtCompileTime != Dynamic) ?
                           int(MatrixType::RowsAtCompileTime) - 1 : Dynamic,
@@ -53,47 +56,50 @@ struct ei_traits<Minor<MatrixType> >
                              int(MatrixType::MaxRowsAtCompileTime) - 1 : Dynamic,
     MaxColsAtCompileTime = (MatrixType::MaxColsAtCompileTime != Dynamic) ?
                              int(MatrixType::MaxColsAtCompileTime) - 1 : Dynamic,
-    Flags = _MatrixTypeNested::Flags & HereditaryBits,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+    Flags = _MatrixTypeNested::Flags & (HereditaryBits | LvalueBit),
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost // minor is used typically on tiny matrices,
+      // where loops are unrolled and the 'if' evaluates at compile time
   };
 };
+}
 
 template<typename MatrixType> class Minor
   : public MatrixBase<Minor<MatrixType> >
 {
   public:
 
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Minor)
+    typedef MatrixBase<Minor> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Minor)
 
     inline Minor(const MatrixType& matrix,
-                       int row, int col)
+                       Index row, Index col)
       : m_matrix(matrix), m_row(row), m_col(col)
     {
-      ei_assert(row >= 0 && row < matrix.rows()
+      eigen_assert(row >= 0 && row < matrix.rows()
           && col >= 0 && col < matrix.cols());
     }
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Minor)
 
-    inline int rows() const { return m_matrix.rows() - 1; }
-    inline int cols() const { return m_matrix.cols() - 1; }
+    inline Index rows() const { return m_matrix.rows() - 1; }
+    inline Index cols() const { return m_matrix.cols() - 1; }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
       return m_matrix.const_cast_derived().coeffRef(row + (row >= m_row), col + (col >= m_col));
     }
 
-    inline const Scalar coeff(int row, int col) const
+    inline const Scalar coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row + (row >= m_row), col + (col >= m_col));
     }
 
   protected:
     const typename MatrixType::Nested m_matrix;
-    const int m_row, m_col;
+    const Index m_row, m_col;
 };
 
-/** \nonstableyet 
+/**
   * \return an expression of the (\a row, \a col)-minor of *this,
   * i.e. an expression constructed from *this by removing the specified
   * row and column.
@@ -105,16 +111,16 @@ template<typename MatrixType> class Minor
   */
 template<typename Derived>
 inline Minor<Derived>
-MatrixBase<Derived>::minor(int row, int col)
+MatrixBase<Derived>::minor(Index row, Index col)
 {
   return Minor<Derived>(derived(), row, col);
 }
 
-/** \nonstableyet 
+/**
   * This is the const version of minor(). */
 template<typename Derived>
 inline const Minor<Derived>
-MatrixBase<Derived>::minor(int row, int col) const
+MatrixBase<Derived>::minor(Index row, Index col) const
 {
   return Minor<Derived>(derived(), row, col);
 }
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/QR.h b/extern/Eigen3/Eigen/src/Eigen2Support/QR.h
new file mode 100644
index 00000000000..64f5d5ccb30
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/QR.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_QR_H
+#define EIGEN2_QR_H
+
+template<typename MatrixType>
+class QR : public HouseholderQR<MatrixType>
+{
+  public:
+
+    typedef HouseholderQR<MatrixType> Base;
+    typedef Block<const MatrixType, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixRBlockType;
+
+    QR() : Base() {}
+
+    template<typename T>
+    explicit QR(const T& t) : Base(t) {}
+
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = static_cast<const Base*>(this)->solve(b);
+      return true;
+    }
+
+    MatrixType matrixQ(void) const {
+      MatrixType ret = MatrixType::Identity(this->rows(), this->cols());
+      ret = this->householderQ() * ret;
+      return ret;
+    }
+
+    bool isFullRank() const {
+      return true;
+    }
+    
+    const TriangularView<MatrixRBlockType, UpperTriangular>
+    matrixR(void) const
+    {
+      int cols = this->cols();
+      return MatrixRBlockType(this->matrixQR(), 0, 0, cols, cols).template triangularView<UpperTriangular>();
+    }
+};
+
+/** \return the QR decomposition of \c *this.
+  *
+  * \sa class QR
+  */
+template<typename Derived>
+const QR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::qr() const
+{
+  return QR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN2_QR_H
diff --git a/extern/Eigen2/Eigen/src/SVD/SVD.h b/extern/Eigen3/Eigen/src/Eigen2Support/SVD.h
index d117c158397..16b4b488f0c 100644
--- a/extern/Eigen2/Eigen/src/SVD/SVD.h
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/SVD.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_SVD_H
-#define EIGEN_SVD_H
+#ifndef EIGEN2_SVD_H
+#define EIGEN2_SVD_H
 
 /** \ingroup SVD_Module
   * \nonstableyet
@@ -47,9 +47,9 @@ template<typename MatrixType> class SVD
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
 
     enum {
-      PacketSize = ei_packet_traits<Scalar>::size,
+      PacketSize = internal::packet_traits<Scalar>::size,
       AlignmentMask = int(PacketSize)-1,
-      MinSize = EIGEN_ENUM_MIN(MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime)
+      MinSize = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime)
     };
 
     typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> ColVector;
@@ -61,10 +61,12 @@ template<typename MatrixType> class SVD
 
   public:
 
+    SVD() {} // a user who relied on compiler-generated default compiler reported problems with MSVC in 2.0.7
+    
     SVD(const MatrixType& matrix)
-      : m_matU(matrix.rows(), std::min(matrix.rows(), matrix.cols())),
+      : m_matU(matrix.rows(), (std::min)(matrix.rows(), matrix.cols())),
         m_matV(matrix.cols(),matrix.cols()),
-        m_sigma(std::min(matrix.rows(),matrix.cols()))
+        m_sigma((std::min)(matrix.rows(),matrix.cols()))
     {
       compute(matrix);
     }
@@ -106,12 +108,13 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
 {
   const int m = matrix.rows();
   const int n = matrix.cols();
-  const int nu = std::min(m,n);
+  const int nu = (std::min)(m,n);
   ei_assert(m>=n && "In Eigen 2.0, SVD only works for MxN matrices with M>=N. Sorry!");
+  ei_assert(m>1 && "In Eigen 2.0, SVD doesn't work on 1x1 matrices");
 
   m_matU.resize(m, nu);
   m_matU.setZero();
-  m_sigma.resize(std::min(m,n));
+  m_sigma.resize((std::min)(m,n));
   m_matV.resize(n,n);
 
   RowVector e(n);
@@ -123,9 +126,9 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
 
   // Reduce A to bidiagonal form, storing the diagonal elements
   // in s and the super-diagonal elements in e.
-  int nct = std::min(m-1,n);
-  int nrt = std::max(0,std::min(n-2,m));
-  for (k = 0; k < std::max(nct,nrt); ++k)
+  int nct = (std::min)(m-1,n);
+  int nrt = (std::max)(0,(std::min)(n-2,m));
+  for (k = 0; k < (std::max)(nct,nrt); ++k)
   {
     if (k < nct)
     {
@@ -147,7 +150,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       if ((k < nct) && (m_sigma[k] != 0.0))
       {
         // Apply the transformation.
-        Scalar t = matA.col(k).end(m-k).dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
+        Scalar t = matA.col(k).end(m-k).eigen2_dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
         t = -t/matA(k,k);
         matA.col(j).end(m-k) += t * matA.col(k).end(m-k);
       }
@@ -190,7 +193,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
 
 
   // Set up the final bidiagonal matrix or order p.
-  int p = std::min(n,m+1);
+  int p = (std::min)(n,m+1);
   if (nct < n)
     m_sigma[nct] = matA(nct,nct);
   if (m < p)
@@ -213,7 +216,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       {
         for (j = k+1; j < nu; ++j)
         {
-          Scalar t = m_matU.col(k).end(m-k).dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
+          Scalar t = m_matU.col(k).end(m-k).eigen2_dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
           t = -t/m_matU(k,k);
           m_matU.col(j).end(m-k) += t * m_matU.col(k).end(m-k);
         }
@@ -239,7 +242,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       {
         for (j = k+1; j < nu; ++j)
         {
-          Scalar t = m_matV.col(k).end(n-k-1).dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
+          Scalar t = m_matV.col(k).end(n-k-1).eigen2_dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
           t = -t/m_matV(k+1,k);
           m_matV.col(j).end(n-k-1) += t * m_matV.col(k).end(n-k-1);
         }
@@ -325,7 +328,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
         e[p-2] = 0.0;
         for (j = p-2; j >= k; --j)
         {
-          Scalar t(ei_hypot(m_sigma[j],f));
+          Scalar t(internal::hypot(m_sigma[j],f));
           Scalar cs(m_sigma[j]/t);
           Scalar sn(f/t);
           m_sigma[j] = t;
@@ -354,7 +357,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
         e[k-1] = 0.0;
         for (j = k; j < p; ++j)
         {
-          Scalar t(ei_hypot(m_sigma[j],f));
+          Scalar t(internal::hypot(m_sigma[j],f));
           Scalar cs( m_sigma[j]/t);
           Scalar sn(f/t);
           m_sigma[j] = t;
@@ -377,7 +380,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       case 3:
       {
         // Calculate the shift.
-        Scalar scale = std::max(std::max(std::max(std::max(
+        Scalar scale = (std::max)((std::max)((std::max)((std::max)(
                         ei_abs(m_sigma[p-1]),ei_abs(m_sigma[p-2])),ei_abs(e[p-2])),
                         ei_abs(m_sigma[k])),ei_abs(e[k]));
         Scalar sp = m_sigma[p-1]/scale;
@@ -402,7 +405,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
 
         for (j = k; j < p-1; ++j)
         {
-          Scalar t = ei_hypot(f,g);
+          Scalar t = internal::hypot(f,g);
           Scalar cs = f/t;
           Scalar sn = g/t;
           if (j != k)
@@ -420,7 +423,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
               m_matV(i,j) = t;
             }
           }
-          t = ei_hypot(f,g);
+          t = internal::hypot(f,g);
           cs = f/t;
           sn = g/t;
           m_sigma[j] = t;
@@ -637,10 +640,10 @@ void SVD<MatrixType>::computeScalingRotation(ScalingType *scaling, RotationType
   * \returns the SVD decomposition of \c *this
   */
 template<typename Derived>
-inline SVD<typename MatrixBase<Derived>::PlainMatrixType>
+inline SVD<typename MatrixBase<Derived>::PlainObject>
 MatrixBase<Derived>::svd() const
 {
-  return SVD<PlainMatrixType>(derived());
+  return SVD<PlainObject>(derived());
 }
 
-#endif // EIGEN_SVD_H
+#endif // EIGEN2_SVD_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/TriangularSolver.h b/extern/Eigen3/Eigen/src/Eigen2Support/TriangularSolver.h
new file mode 100644
index 00000000000..e94e47a5093
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/TriangularSolver.h
@@ -0,0 +1,53 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER2_H
+#define EIGEN_TRIANGULAR_SOLVER2_H
+
+const unsigned int UnitDiagBit = UnitDiag;
+const unsigned int SelfAdjointBit = SelfAdjoint;
+const unsigned int UpperTriangularBit = Upper;
+const unsigned int LowerTriangularBit = Lower;
+
+const unsigned int UpperTriangular = Upper;
+const unsigned int LowerTriangular = Lower;
+const unsigned int UnitUpperTriangular = UnitUpper;
+const unsigned int UnitLowerTriangular = UnitLower;
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed>
+template<typename OtherDerived>
+typename ExpressionType::PlainObject
+Flagged<ExpressionType,Added,Removed>::solveTriangular(const MatrixBase<OtherDerived>& other) const
+{
+  return m_matrix.template triangularView<Added>().solve(other.derived());
+}
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed>
+template<typename OtherDerived>
+void Flagged<ExpressionType,Added,Removed>::solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const
+{
+  m_matrix.template triangularView<Added>().solveInPlace(other.derived());
+}
+    
+#endif // EIGEN_TRIANGULAR_SOLVER2_H
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/VectorBlock.h b/extern/Eigen3/Eigen/src/Eigen2Support/VectorBlock.h
new file mode 100644
index 00000000000..010031d1971
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigen2Support/VectorBlock.h
@@ -0,0 +1,105 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_VECTORBLOCK_H
+#define EIGEN2_VECTORBLOCK_H
+
+/** \deprecated use DenseMase::head(Index) */
+template<typename Derived>
+inline VectorBlock<Derived>
+MatrixBase<Derived>::start(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived>(derived(), 0, size);
+}
+
+/** \deprecated use DenseMase::head(Index) */
+template<typename Derived>
+inline const VectorBlock<const Derived>
+MatrixBase<Derived>::start(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived>(derived(), 0, size);
+}
+
+/** \deprecated use DenseMase::tail(Index) */
+template<typename Derived>
+inline VectorBlock<Derived>
+MatrixBase<Derived>::end(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived>(derived(), this->size() - size, size);
+}
+
+/** \deprecated use DenseMase::tail(Index) */
+template<typename Derived>
+inline const VectorBlock<const Derived>
+MatrixBase<Derived>::end(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived>(derived(), this->size() - size, size);
+}
+
+/** \deprecated use DenseMase::head() */
+template<typename Derived>
+template<int Size>
+inline VectorBlock<Derived,Size>
+MatrixBase<Derived>::start()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived,Size>(derived(), 0);
+}
+
+/** \deprecated use DenseMase::head() */
+template<typename Derived>
+template<int Size>
+inline const VectorBlock<const Derived,Size>
+MatrixBase<Derived>::start() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived,Size>(derived(), 0);
+}
+
+/** \deprecated use DenseMase::tail() */
+template<typename Derived>
+template<int Size>
+inline VectorBlock<Derived,Size>
+MatrixBase<Derived>::end()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived, Size>(derived(), size() - Size);
+}
+
+/** \deprecated use DenseMase::tail() */
+template<typename Derived>
+template<int Size>
+inline const VectorBlock<const Derived,Size>
+MatrixBase<Derived>::end() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived, Size>(derived(), size() - Size);
+}
+
+#endif // EIGEN2_VECTORBLOCK_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/extern/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
new file mode 100644
index 00000000000..57e00227d72
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -0,0 +1,332 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_EIGEN_SOLVER_H
+#define EIGEN_COMPLEX_EIGEN_SOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./ComplexSchur.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class ComplexEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of general complex matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are
+  * computing the eigendecomposition; this is expected to be an
+  * instantiation of the Matrix class template.
+  *
+  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v
+  * \f$.  If \f$ D \f$ is a diagonal matrix with the eigenvalues on
+  * the diagonal, and \f$ V \f$ is a matrix with the eigenvectors as
+  * its columns, then \f$ A V = V D \f$. The matrix \f$ V \f$ is
+  * almost always invertible, in which case we have \f$ A = V D V^{-1}
+  * \f$. This is called the eigendecomposition.
+  *
+  * The main function in this class is compute(), which computes the
+  * eigenvalues and eigenvectors of a given function. The
+  * documentation for that function contains an example showing the
+  * main features of the class.
+  *
+  * \sa class EigenSolver, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class ComplexEigenSolver
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for #MatrixType.
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+      *
+      * This is a column vector with entries of type #ComplexScalar.
+      * The length of the vector is the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options&(~RowMajor), MaxColsAtCompileTime, 1> EigenvalueType;
+
+    /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
+      *
+      * This is a square matrix with entries of type #ComplexScalar.
+      * The size is the same as the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorType;
+
+    /** \brief Default constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().
+      */
+    ComplexEigenSolver()
+            : m_eivec(),
+              m_eivalues(),
+              m_schur(),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX()
+    {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa ComplexEigenSolver()
+      */
+    ComplexEigenSolver(Index size)
+            : m_eivec(size, size),
+              m_eivalues(size),
+              m_schur(size),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX(size, size)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed.
+      *
+      * This constructor calls compute() to compute the eigendecomposition.
+      */
+      ComplexEigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+            : m_eivec(matrix.rows(),matrix.cols()),
+              m_eivalues(matrix.cols()),
+              m_schur(matrix.rows()),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX(matrix.rows(),matrix.cols())
+    {
+      compute(matrix, computeEigenvectors);
+    }
+
+    /** \brief Returns the eigenvectors of given matrix.
+      *
+      * \returns  A const reference to the matrix whose columns are the eigenvectors.
+      *
+      * \pre Either the constructor
+      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+      * function compute(const MatrixType& matrix, bool) has been called before
+      * to compute the eigendecomposition of a matrix, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * This function returns a matrix whose columns are the eigenvectors. Column
+      * \f$ k \f$ is an eigenvector corresponding to eigenvalue number \f$ k
+      * \f$ as returned by eigenvalues().  The eigenvectors are normalized to
+      * have (Euclidean) norm equal to one. The matrix returned by this
+      * function is the matrix \f$ V \f$ in the eigendecomposition \f$ A = V D
+      * V^{-1} \f$, if it exists.
+      *
+      * Example: \include ComplexEigenSolver_eigenvectors.cpp
+      * Output: \verbinclude ComplexEigenSolver_eigenvectors.out
+      */
+    const EigenvectorType& eigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the eigenvalues of given matrix.
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre Either the constructor
+      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+      * function compute(const MatrixType& matrix, bool) has been called before
+      * to compute the eigendecomposition of a matrix.
+      *
+      * This function returns a column vector containing the
+      * eigenvalues. Eigenvalues are repeated according to their
+      * algebraic multiplicity, so there are as many eigenvalues as
+      * rows in the matrix. The eigenvalues are not sorted in any particular
+      * order.
+      *
+      * Example: \include ComplexEigenSolver_eigenvalues.cpp
+      * Output: \verbinclude ComplexEigenSolver_eigenvalues.out
+      */
+    const EigenvalueType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed.
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of the complex matrix \p matrix.
+      * The eigenvalues() function can be used to retrieve them.  If
+      * \p computeEigenvectors is true, then the eigenvectors are also computed
+      * and can be retrieved by calling eigenvectors().
+      *
+      * The matrix is first reduced to Schur form using the
+      * ComplexSchur class. The Schur decomposition is then used to
+      * compute the eigenvalues and eigenvectors.
+      *
+      * The cost of the computation is dominated by the cost of the
+      * Schur decomposition, which is \f$ O(n^3) \f$ where \f$ n \f$
+      * is the size of the matrix.
+      *
+      * Example: \include ComplexEigenSolver_compute.cpp
+      * Output: \verbinclude ComplexEigenSolver_compute.out
+      */
+    ComplexEigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_schur.info();
+    }
+
+  protected:
+    EigenvectorType m_eivec;
+    EigenvalueType m_eivalues;
+    ComplexSchur<MatrixType> m_schur;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+    EigenvectorType m_matX;
+
+  private:
+    void doComputeEigenvectors(RealScalar matrixnorm);
+    void sortEigenvalues(bool computeEigenvectors);
+};
+
+
+template<typename MatrixType>
+ComplexEigenSolver<MatrixType>& ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+{
+  // this code is inspired from Jampack
+  assert(matrix.cols() == matrix.rows());
+
+  // Do a complex Schur decomposition, A = U T U^*
+  // The eigenvalues are on the diagonal of T.
+  m_schur.compute(matrix, computeEigenvectors);
+
+  if(m_schur.info() == Success)
+  {
+    m_eivalues = m_schur.matrixT().diagonal();
+    if(computeEigenvectors)
+      doComputeEigenvectors(matrix.norm());
+    sortEigenvalues(computeEigenvectors);
+  }
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(RealScalar matrixnorm)
+{
+  const Index n = m_eivalues.size();
+
+  // Compute X such that T = X D X^(-1), where D is the diagonal of T.
+  // The matrix X is unit triangular.
+  m_matX = EigenvectorType::Zero(n, n);
+  for(Index k=n-1 ; k>=0 ; k--)
+  {
+    m_matX.coeffRef(k,k) = ComplexScalar(1.0,0.0);
+    // Compute X(i,k) using the (i,k) entry of the equation X T = D X
+    for(Index i=k-1 ; i>=0 ; i--)
+    {
+      m_matX.coeffRef(i,k) = -m_schur.matrixT().coeff(i,k);
+      if(k-i-1>0)
+        m_matX.coeffRef(i,k) -= (m_schur.matrixT().row(i).segment(i+1,k-i-1) * m_matX.col(k).segment(i+1,k-i-1)).value();
+      ComplexScalar z = m_schur.matrixT().coeff(i,i) - m_schur.matrixT().coeff(k,k);
+      if(z==ComplexScalar(0))
+      {
+        // If the i-th and k-th eigenvalue are equal, then z equals 0.
+        // Use a small value instead, to prevent division by zero.
+        internal::real_ref(z) = NumTraits<RealScalar>::epsilon() * matrixnorm;
+      }
+      m_matX.coeffRef(i,k) = m_matX.coeff(i,k) / z;
+    }
+  }
+
+  // Compute V as V = U X; now A = U T U^* = U X D X^(-1) U^* = V D V^(-1)
+  m_eivec.noalias() = m_schur.matrixU() * m_matX;
+  // .. and normalize the eigenvectors
+  for(Index k=0 ; k<n ; k++)
+  {
+    m_eivec.col(k).normalize();
+  }
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::sortEigenvalues(bool computeEigenvectors)
+{
+  const Index n =  m_eivalues.size();
+  for (Index i=0; i<n; i++)
+  {
+    Index k;
+    m_eivalues.cwiseAbs().tail(n-i).minCoeff(&k);
+    if (k != 0)
+    {
+      k += i;
+      std::swap(m_eivalues[k],m_eivalues[i]);
+      if(computeEigenvectors)
+	m_eivec.col(i).swap(m_eivec.col(k));
+    }
+  }
+}
+
+
+#endif // EIGEN_COMPLEX_EIGEN_SOLVER_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h b/extern/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
new file mode 100644
index 00000000000..ec93af2e58a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -0,0 +1,448 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_SCHUR_H
+#define EIGEN_COMPLEX_SCHUR_H
+
+#include "./EigenvaluesCommon.h"
+#include "./HessenbergDecomposition.h"
+
+namespace internal {
+template<typename MatrixType, bool IsComplex> struct complex_schur_reduce_to_hessenberg;
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class ComplexSchur
+  *
+  * \brief Performs a complex Schur decomposition of a real or complex square matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are
+  * computing the Schur decomposition; this is expected to be an
+  * instantiation of the Matrix class template.
+  *
+  * Given a real or complex square matrix A, this class computes the
+  * Schur decomposition: \f$ A = U T U^*\f$ where U is a unitary
+  * complex matrix, and T is a complex upper triangular matrix.  The
+  * diagonal of the matrix T corresponds to the eigenvalues of the
+  * matrix A.
+  *
+  * Call the function compute() to compute the Schur decomposition of
+  * a given matrix. Alternatively, you can use the 
+  * ComplexSchur(const MatrixType&, bool) constructor which computes
+  * the Schur decomposition at construction time. Once the
+  * decomposition is computed, you can use the matrixU() and matrixT()
+  * functions to retrieve the matrices U and V in the decomposition.
+  *
+  * \note This code is inspired from Jampack
+  *
+  * \sa class RealSchur, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class ComplexSchur
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type \p _MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for \p _MatrixType. 
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for the matrices in the Schur decomposition.
+      *
+      * This is a square matrix with entries of type #ComplexScalar. 
+      * The size is the same as the size of \p _MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> ComplexMatrixType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user
+      * intends to perform decompositions via compute().  The \p size
+      * parameter is only used as a hint. It is not an error to give a
+      * wrong \p size, but it may impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+      : m_matT(size,size),
+        m_matU(size,size),
+        m_hess(size),
+        m_isInitialized(false),
+        m_matUisUptodate(false)
+    {}
+
+    /** \brief Constructor; computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      *
+      * This constructor calls compute() to compute the Schur decomposition.
+      *
+      * \sa matrixT() and matrixU() for examples.
+      */
+    ComplexSchur(const MatrixType& matrix, bool computeU = true)
+            : m_matT(matrix.rows(),matrix.cols()),
+              m_matU(matrix.rows(),matrix.cols()),
+              m_hess(matrix.rows()),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    {
+      compute(matrix, computeU);
+    }
+
+    /** \brief Returns the unitary matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix U.
+      *
+      * It is assumed that either the constructor
+      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+      * member function compute(const MatrixType& matrix, bool computeU)
+      * has been called before to compute the Schur decomposition of a
+      * matrix, and that \p computeU was set to true (the default
+      * value).
+      *
+      * Example: \include ComplexSchur_matrixU.cpp
+      * Output: \verbinclude ComplexSchur_matrixU.out
+      */
+    const ComplexMatrixType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the ComplexSchur decomposition.");
+      return m_matU;
+    }
+
+    /** \brief Returns the triangular matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix T.
+      *
+      * It is assumed that either the constructor
+      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+      * member function compute(const MatrixType& matrix, bool computeU)
+      * has been called before to compute the Schur decomposition of a
+      * matrix.
+      *
+      * Note that this function returns a plain square matrix. If you want to reference
+      * only the upper triangular part, use:
+      * \code schur.matrixT().triangularView<Upper>() \endcode 
+      *
+      * Example: \include ComplexSchur_matrixT.cpp
+      * Output: \verbinclude ComplexSchur_matrixT.out
+      */
+    const ComplexMatrixType& matrixT() const
+    {
+      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+      return m_matT;
+    }
+
+    /** \brief Computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      * \returns    Reference to \c *this
+      *
+      * The Schur decomposition is computed by first reducing the
+      * matrix to Hessenberg form using the class
+      * HessenbergDecomposition. The Hessenberg matrix is then reduced
+      * to triangular form by performing QR iterations with a single
+      * shift. The cost of computing the Schur decomposition depends
+      * on the number of iterations; as a rough guide, it may be taken
+      * on the number of iterations; as a rough guide, it may be taken
+      * to be \f$25n^3\f$ complex flops, or \f$10n^3\f$ complex flops
+      * if \a computeU is false.
+      *
+      * Example: \include ComplexSchur_compute.cpp
+      * Output: \verbinclude ComplexSchur_compute.out
+      */
+    ComplexSchur& compute(const MatrixType& matrix, bool computeU = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge. 
+      */
+    static const int m_maxIterations = 30;
+
+  protected:
+    ComplexMatrixType m_matT, m_matU;
+    HessenbergDecomposition<MatrixType> m_hess;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_matUisUptodate;
+
+  private:  
+    bool subdiagonalEntryIsNeglegible(Index i);
+    ComplexScalar computeShift(Index iu, Index iter);
+    void reduceToTriangularForm(bool computeU);
+    friend struct internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>;
+};
+
+namespace internal {
+
+/** Computes the principal value of the square root of the complex \a z. */
+template<typename RealScalar>
+std::complex<RealScalar> sqrt(const std::complex<RealScalar> &z)
+{
+  RealScalar t, tre, tim;
+
+  t = abs(z);
+
+  if (abs(real(z)) <= abs(imag(z)))
+  {
+    // No cancellation in these formulas
+    tre = sqrt(RealScalar(0.5)*(t + real(z)));
+    tim = sqrt(RealScalar(0.5)*(t - real(z)));
+  }
+  else
+  {
+    // Stable computation of the above formulas
+    if (z.real() > RealScalar(0))
+    {
+      tre = t + z.real();
+      tim = abs(imag(z))*sqrt(RealScalar(0.5)/tre);
+      tre = sqrt(RealScalar(0.5)*tre);
+    }
+    else
+    {
+      tim = t - z.real();
+      tre = abs(imag(z))*sqrt(RealScalar(0.5)/tim);
+      tim = sqrt(RealScalar(0.5)*tim);
+    }
+  }
+  if(z.imag() < RealScalar(0))
+    tim = -tim;
+
+  return (std::complex<RealScalar>(tre,tim));
+}
+} // end namespace internal
+
+
+/** If m_matT(i+1,i) is neglegible in floating point arithmetic
+  * compared to m_matT(i,i) and m_matT(j,j), then set it to zero and
+  * return true, else return false. */
+template<typename MatrixType>
+inline bool ComplexSchur<MatrixType>::subdiagonalEntryIsNeglegible(Index i)
+{
+  RealScalar d = internal::norm1(m_matT.coeff(i,i)) + internal::norm1(m_matT.coeff(i+1,i+1));
+  RealScalar sd = internal::norm1(m_matT.coeff(i+1,i));
+  if (internal::isMuchSmallerThan(sd, d, NumTraits<RealScalar>::epsilon()))
+  {
+    m_matT.coeffRef(i+1,i) = ComplexScalar(0);
+    return true;
+  }
+  return false;
+}
+
+
+/** Compute the shift in the current QR iteration. */
+template<typename MatrixType>
+typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::computeShift(Index iu, Index iter)
+{
+  if (iter == 10 || iter == 20) 
+  {
+    // exceptional shift, taken from http://www.netlib.org/eispack/comqr.f
+    return internal::abs(internal::real(m_matT.coeff(iu,iu-1))) + internal::abs(internal::real(m_matT.coeff(iu-1,iu-2)));
+  }
+
+  // compute the shift as one of the eigenvalues of t, the 2x2
+  // diagonal block on the bottom of the active submatrix
+  Matrix<ComplexScalar,2,2> t = m_matT.template block<2,2>(iu-1,iu-1);
+  RealScalar normt = t.cwiseAbs().sum();
+  t /= normt;     // the normalization by sf is to avoid under/overflow
+
+  ComplexScalar b = t.coeff(0,1) * t.coeff(1,0);
+  ComplexScalar c = t.coeff(0,0) - t.coeff(1,1);
+  ComplexScalar disc = internal::sqrt(c*c + RealScalar(4)*b);
+  ComplexScalar det = t.coeff(0,0) * t.coeff(1,1) - b;
+  ComplexScalar trace = t.coeff(0,0) + t.coeff(1,1);
+  ComplexScalar eival1 = (trace + disc) / RealScalar(2);
+  ComplexScalar eival2 = (trace - disc) / RealScalar(2);
+
+  if(internal::norm1(eival1) > internal::norm1(eival2))
+    eival2 = det / eival1;
+  else
+    eival1 = det / eival2;
+
+  // choose the eigenvalue closest to the bottom entry of the diagonal
+  if(internal::norm1(eival1-t.coeff(1,1)) < internal::norm1(eival2-t.coeff(1,1)))
+    return normt * eival1;
+  else
+    return normt * eival2;
+}
+
+
+template<typename MatrixType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+{
+  m_matUisUptodate = false;
+  eigen_assert(matrix.cols() == matrix.rows());
+
+  if(matrix.cols() == 1)
+  {
+    m_matT = matrix.template cast<ComplexScalar>();
+    if(computeU)  m_matU = ComplexMatrixType::Identity(1,1);
+    m_info = Success;
+    m_isInitialized = true;
+    m_matUisUptodate = computeU;
+    return *this;
+  }
+
+  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix, computeU);
+  reduceToTriangularForm(computeU);
+  return *this;
+}
+
+namespace internal {
+
+/* Reduce given matrix to Hessenberg form */
+template<typename MatrixType, bool IsComplex>
+struct complex_schur_reduce_to_hessenberg
+{
+  // this is the implementation for the case IsComplex = true
+  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+  {
+    _this.m_hess.compute(matrix);
+    _this.m_matT = _this.m_hess.matrixH();
+    if(computeU)  _this.m_matU = _this.m_hess.matrixQ();
+  }
+};
+
+template<typename MatrixType>
+struct complex_schur_reduce_to_hessenberg<MatrixType, false>
+{
+  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+  {
+    typedef typename ComplexSchur<MatrixType>::ComplexScalar ComplexScalar;
+    typedef typename ComplexSchur<MatrixType>::ComplexMatrixType ComplexMatrixType;
+
+    // Note: m_hess is over RealScalar; m_matT and m_matU is over ComplexScalar
+    _this.m_hess.compute(matrix);
+    _this.m_matT = _this.m_hess.matrixH().template cast<ComplexScalar>();
+    if(computeU)  
+    {
+      // This may cause an allocation which seems to be avoidable
+      MatrixType Q = _this.m_hess.matrixQ(); 
+      _this.m_matU = Q.template cast<ComplexScalar>();
+    }
+  }
+};
+
+} // end namespace internal
+
+// Reduce the Hessenberg matrix m_matT to triangular form by QR iteration.
+template<typename MatrixType>
+void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
+{  
+  // The matrix m_matT is divided in three parts. 
+  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
+  // Rows il,...,iu is the part we are working on (the active submatrix).
+  // Rows iu+1,...,end are already brought in triangular form.
+  Index iu = m_matT.cols() - 1;
+  Index il;
+  Index iter = 0; // number of iterations we are working on the (iu,iu) element
+
+  while(true)
+  {
+    // find iu, the bottom row of the active submatrix
+    while(iu > 0)
+    {
+      if(!subdiagonalEntryIsNeglegible(iu-1)) break;
+      iter = 0;
+      --iu;
+    }
+
+    // if iu is zero then we are done; the whole matrix is triangularized
+    if(iu==0) break;
+
+    // if we spent too many iterations on the current element, we give up
+    iter++;
+    if(iter > m_maxIterations) break;
+
+    // find il, the top row of the active submatrix
+    il = iu-1;
+    while(il > 0 && !subdiagonalEntryIsNeglegible(il-1))
+    {
+      --il;
+    }
+
+    /* perform the QR step using Givens rotations. The first rotation
+       creates a bulge; the (il+2,il) element becomes nonzero. This
+       bulge is chased down to the bottom of the active submatrix. */
+
+    ComplexScalar shift = computeShift(iu, iter);
+    JacobiRotation<ComplexScalar> rot;
+    rot.makeGivens(m_matT.coeff(il,il) - shift, m_matT.coeff(il+1,il));
+    m_matT.rightCols(m_matT.cols()-il).applyOnTheLeft(il, il+1, rot.adjoint());
+    m_matT.topRows((std::min)(il+2,iu)+1).applyOnTheRight(il, il+1, rot);
+    if(computeU) m_matU.applyOnTheRight(il, il+1, rot);
+
+    for(Index i=il+1 ; i<iu ; i++)
+    {
+      rot.makeGivens(m_matT.coeffRef(i,i-1), m_matT.coeffRef(i+1,i-1), &m_matT.coeffRef(i,i-1));
+      m_matT.coeffRef(i+1,i-1) = ComplexScalar(0);
+      m_matT.rightCols(m_matT.cols()-i).applyOnTheLeft(i, i+1, rot.adjoint());
+      m_matT.topRows((std::min)(i+2,iu)+1).applyOnTheRight(i, i+1, rot);
+      if(computeU) m_matU.applyOnTheRight(i, i+1, rot);
+    }
+  }
+
+  if(iter <= m_maxIterations) 
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  m_isInitialized = true;
+  m_matUisUptodate = computeU;
+}
+
+#endif // EIGEN_COMPLEX_SCHUR_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h b/extern/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h
new file mode 100644
index 00000000000..ac4c4242dd4
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h
@@ -0,0 +1,588 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENSOLVER_H
+#define EIGEN_EIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./RealSchur.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class EigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of general matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template. Currently, only real matrices are supported.
+  *
+  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v \f$.  If
+  * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
+  * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
+  * V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
+  * have \f$ A = V D V^{-1} \f$. This is called the eigendecomposition.
+  *
+  * The eigenvalues and eigenvectors of a matrix may be complex, even when the
+  * matrix is real. However, we can choose real matrices \f$ V \f$ and \f$ D
+  * \f$ satisfying \f$ A V = V D \f$, just like the eigendecomposition, if the
+  * matrix \f$ D \f$ is not required to be diagonal, but if it is allowed to
+  * have blocks of the form
+  * \f[ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f]
+  * (where \f$ u \f$ and \f$ v \f$ are real numbers) on the diagonal.  These
+  * blocks correspond to complex eigenvalue pairs \f$ u \pm iv \f$. We call
+  * this variant of the eigendecomposition the pseudo-eigendecomposition.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the 
+  * EigenSolver(const MatrixType&, bool) constructor which computes the
+  * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
+  * eigenvectors are computed, they can be retrieved with the eigenvalues() and
+  * eigenvectors() functions. The pseudoEigenvalueMatrix() and
+  * pseudoEigenvectors() methods allow the construction of the
+  * pseudo-eigendecomposition.
+  *
+  * The documentation for EigenSolver(const MatrixType&, bool) contains an
+  * example of the typical use of this class.
+  *
+  * \note The implementation is adapted from
+  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+  * Their code is based on EISPACK.
+  *
+  * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class EigenSolver
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for #MatrixType. 
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues(). 
+      *
+      * This is a column vector with entries of type #ComplexScalar.
+      * The length of the vector is the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+
+    /** \brief Type for matrix of eigenvectors as returned by eigenvectors(). 
+      *
+      * This is a square matrix with entries of type #ComplexScalar. 
+      * The size is the same as the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
+
+    /** \brief Default constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
+      *
+      * \sa compute() for an example.
+      */
+ EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+
+    /** \brief Default constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa EigenSolver()
+      */
+    EigenSolver(Index size)
+      : m_eivec(size, size),
+        m_eivalues(size),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false),
+        m_realSchur(size),
+        m_matT(size, size), 
+        m_tmp(size)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed. 
+      *
+      * This constructor calls compute() to compute the eigenvalues
+      * and eigenvectors.
+      *
+      * Example: \include EigenSolver_EigenSolver_MatrixType.cpp
+      * Output: \verbinclude EigenSolver_EigenSolver_MatrixType.out
+      *
+      * \sa compute()
+      */
+    EigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false),
+        m_realSchur(matrix.cols()),
+        m_matT(matrix.rows(), matrix.cols()), 
+        m_tmp(matrix.cols())
+    {
+      compute(matrix, computeEigenvectors);
+    }
+
+    /** \brief Returns the eigenvectors of given matrix. 
+      *
+      * \returns  %Matrix whose columns are the (possibly complex) eigenvectors.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
+      * eigenvectors are normalized to have (Euclidean) norm equal to one. The
+      * matrix returned by this function is the matrix \f$ V \f$ in the
+      * eigendecomposition \f$ A = V D V^{-1} \f$, if it exists.
+      *
+      * Example: \include EigenSolver_eigenvectors.cpp
+      * Output: \verbinclude EigenSolver_eigenvectors.out
+      *
+      * \sa eigenvalues(), pseudoEigenvectors()
+      */
+    EigenvectorsType eigenvectors() const;
+
+    /** \brief Returns the pseudo-eigenvectors of given matrix. 
+      *
+      * \returns  Const reference to matrix whose columns are the pseudo-eigenvectors.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * The real matrix \f$ V \f$ returned by this function and the
+      * block-diagonal matrix \f$ D \f$ returned by pseudoEigenvalueMatrix()
+      * satisfy \f$ AV = VD \f$.
+      *
+      * Example: \include EigenSolver_pseudoEigenvectors.cpp
+      * Output: \verbinclude EigenSolver_pseudoEigenvectors.out
+      *
+      * \sa pseudoEigenvalueMatrix(), eigenvectors()
+      */
+    const MatrixType& pseudoEigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the block-diagonal matrix in the pseudo-eigendecomposition.
+      *
+      * \returns  A block-diagonal matrix.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before.
+      *
+      * The matrix \f$ D \f$ returned by this function is real and
+      * block-diagonal. The blocks on the diagonal are either 1-by-1 or 2-by-2
+      * blocks of the form
+      * \f$ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f$.
+      * These blocks are not sorted in any particular order.
+      * The matrix \f$ D \f$ and the matrix \f$ V \f$ returned by
+      * pseudoEigenvectors() satisfy \f$ AV = VD \f$.
+      *
+      * \sa pseudoEigenvectors() for an example, eigenvalues()
+      */
+    MatrixType pseudoEigenvalueMatrix() const;
+
+    /** \brief Returns the eigenvalues of given matrix. 
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before.
+      *
+      * The eigenvalues are repeated according to their algebraic multiplicity,
+      * so there are as many eigenvalues as rows in the matrix. The eigenvalues 
+      * are not sorted in any particular order.
+      *
+      * Example: \include EigenSolver_eigenvalues.cpp
+      * Output: \verbinclude EigenSolver_eigenvalues.out
+      *
+      * \sa eigenvectors(), pseudoEigenvalueMatrix(),
+      *     MatrixBase::eigenvalues()
+      */
+    const EigenvalueType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes eigendecomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed. 
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of the real matrix \p matrix.
+      * The eigenvalues() function can be used to retrieve them.  If 
+      * \p computeEigenvectors is true, then the eigenvectors are also computed
+      * and can be retrieved by calling eigenvectors().
+      *
+      * The matrix is first reduced to real Schur form using the RealSchur
+      * class. The Schur decomposition is then used to compute the eigenvalues
+      * and eigenvectors.
+      *
+      * The cost of the computation is dominated by the cost of the
+      * Schur decomposition, which is very approximately \f$ 25n^3 \f$
+      * (where \f$ n \f$ is the size of the matrix) if \p computeEigenvectors 
+      * is true, and \f$ 10n^3 \f$ if \p computeEigenvectors is false.
+      *
+      * This method reuses of the allocated data in the EigenSolver object.
+      *
+      * Example: \include EigenSolver_compute.cpp
+      * Output: \verbinclude EigenSolver_compute.out
+      */
+    EigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_realSchur.info();
+    }
+
+  private:
+    void doComputeEigenvectors();
+
+  protected:
+    MatrixType m_eivec;
+    EigenvalueType m_eivalues;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+    RealSchur<MatrixType> m_realSchur;
+    MatrixType m_matT;
+
+    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+    ColumnVectorType m_tmp;
+};
+
+template<typename MatrixType>
+MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
+{
+  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  Index n = m_eivalues.rows();
+  MatrixType matD = MatrixType::Zero(n,n);
+  for (Index i=0; i<n; ++i)
+  {
+    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(i)), internal::real(m_eivalues.coeff(i))))
+      matD.coeffRef(i,i) = internal::real(m_eivalues.coeff(i));
+    else
+    {
+      matD.template block<2,2>(i,i) <<  internal::real(m_eivalues.coeff(i)), internal::imag(m_eivalues.coeff(i)),
+                                       -internal::imag(m_eivalues.coeff(i)), internal::real(m_eivalues.coeff(i));
+      ++i;
+    }
+  }
+  return matD;
+}
+
+template<typename MatrixType>
+typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eigenvectors() const
+{
+  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+  Index n = m_eivec.cols();
+  EigenvectorsType matV(n,n);
+  for (Index j=0; j<n; ++j)
+  {
+    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(j)), internal::real(m_eivalues.coeff(j))))
+    {
+      // we have a real eigen value
+      matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
+      matV.col(j).normalize();
+    }
+    else
+    {
+      // we have a pair of complex eigen values
+      for (Index i=0; i<n; ++i)
+      {
+        matV.coeffRef(i,j)   = ComplexScalar(m_eivec.coeff(i,j),  m_eivec.coeff(i,j+1));
+        matV.coeffRef(i,j+1) = ComplexScalar(m_eivec.coeff(i,j), -m_eivec.coeff(i,j+1));
+      }
+      matV.col(j).normalize();
+      matV.col(j+1).normalize();
+      ++j;
+    }
+  }
+  return matV;
+}
+
+template<typename MatrixType>
+EigenSolver<MatrixType>& EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+{
+  assert(matrix.cols() == matrix.rows());
+
+  // Reduce to real Schur form.
+  m_realSchur.compute(matrix, computeEigenvectors);
+  if (m_realSchur.info() == Success)
+  {
+    m_matT = m_realSchur.matrixT();
+    if (computeEigenvectors)
+      m_eivec = m_realSchur.matrixU();
+  
+    // Compute eigenvalues from matT
+    m_eivalues.resize(matrix.cols());
+    Index i = 0;
+    while (i < matrix.cols()) 
+    {
+      if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0)) 
+      {
+        m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
+        ++i;
+      }
+      else
+      {
+        Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
+        Scalar z = internal::sqrt(internal::abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        m_eivalues.coeffRef(i)   = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
+        m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
+        i += 2;
+      }
+    }
+    
+    // Compute eigenvectors.
+    if (computeEigenvectors)
+      doComputeEigenvectors();
+  }
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+
+  return *this;
+}
+
+// Complex scalar division.
+template<typename Scalar>
+std::complex<Scalar> cdiv(Scalar xr, Scalar xi, Scalar yr, Scalar yi)
+{
+  Scalar r,d;
+  if (internal::abs(yr) > internal::abs(yi))
+  {
+      r = yi/yr;
+      d = yr + r*yi;
+      return std::complex<Scalar>((xr + r*xi)/d, (xi - r*xr)/d);
+  }
+  else
+  {
+      r = yr/yi;
+      d = yi + r*yr;
+      return std::complex<Scalar>((r*xr + xi)/d, (r*xi - xr)/d);
+  }
+}
+
+
+template<typename MatrixType>
+void EigenSolver<MatrixType>::doComputeEigenvectors()
+{
+  const Index size = m_eivec.cols();
+  const Scalar eps = NumTraits<Scalar>::epsilon();
+
+  // inefficient! this is already computed in RealSchur
+  Scalar norm = 0.0;
+  for (Index j = 0; j < size; ++j)
+  {
+    norm += m_matT.row(j).segment((std::max)(j-1,Index(0)), size-(std::max)(j-1,Index(0))).cwiseAbs().sum();
+  }
+  
+  // Backsubstitute to find vectors of upper triangular form
+  if (norm == 0.0)
+  {
+    return;
+  }
+
+  for (Index n = size-1; n >= 0; n--)
+  {
+    Scalar p = m_eivalues.coeff(n).real();
+    Scalar q = m_eivalues.coeff(n).imag();
+
+    // Scalar vector
+    if (q == Scalar(0))
+    {
+      Scalar lastr=0, lastw=0;
+      Index l = n;
+
+      m_matT.coeffRef(n,n) = 1.0;
+      for (Index i = n-1; i >= 0; i--)
+      {
+        Scalar w = m_matT.coeff(i,i) - p;
+        Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+
+        if (m_eivalues.coeff(i).imag() < 0.0)
+        {
+          lastw = w;
+          lastr = r;
+        }
+        else
+        {
+          l = i;
+          if (m_eivalues.coeff(i).imag() == 0.0)
+          {
+            if (w != 0.0)
+              m_matT.coeffRef(i,n) = -r / w;
+            else
+              m_matT.coeffRef(i,n) = -r / (eps * norm);
+          }
+          else // Solve real equations
+          {
+            Scalar x = m_matT.coeff(i,i+1);
+            Scalar y = m_matT.coeff(i+1,i);
+            Scalar denom = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag();
+            Scalar t = (x * lastr - lastw * r) / denom;
+            m_matT.coeffRef(i,n) = t;
+            if (internal::abs(x) > internal::abs(lastw))
+              m_matT.coeffRef(i+1,n) = (-r - w * t) / x;
+            else
+              m_matT.coeffRef(i+1,n) = (-lastr - y * t) / lastw;
+          }
+
+          // Overflow control
+          Scalar t = internal::abs(m_matT.coeff(i,n));
+          if ((eps * t) * t > Scalar(1))
+            m_matT.col(n).tail(size-i) /= t;
+        }
+      }
+    }
+    else if (q < Scalar(0) && n > 0) // Complex vector
+    {
+      Scalar lastra=0, lastsa=0, lastw=0;
+      Index l = n-1;
+
+      // Last vector component imaginary so matrix is triangular
+      if (internal::abs(m_matT.coeff(n,n-1)) > internal::abs(m_matT.coeff(n-1,n)))
+      {
+        m_matT.coeffRef(n-1,n-1) = q / m_matT.coeff(n,n-1);
+        m_matT.coeffRef(n-1,n) = -(m_matT.coeff(n,n) - p) / m_matT.coeff(n,n-1);
+      }
+      else
+      {
+        std::complex<Scalar> cc = cdiv<Scalar>(0.0,-m_matT.coeff(n-1,n),m_matT.coeff(n-1,n-1)-p,q);
+        m_matT.coeffRef(n-1,n-1) = internal::real(cc);
+        m_matT.coeffRef(n-1,n) = internal::imag(cc);
+      }
+      m_matT.coeffRef(n,n-1) = 0.0;
+      m_matT.coeffRef(n,n) = 1.0;
+      for (Index i = n-2; i >= 0; i--)
+      {
+        Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
+        Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+        Scalar w = m_matT.coeff(i,i) - p;
+
+        if (m_eivalues.coeff(i).imag() < 0.0)
+        {
+          lastw = w;
+          lastra = ra;
+          lastsa = sa;
+        }
+        else
+        {
+          l = i;
+          if (m_eivalues.coeff(i).imag() == RealScalar(0))
+          {
+            std::complex<Scalar> cc = cdiv(-ra,-sa,w,q);
+            m_matT.coeffRef(i,n-1) = internal::real(cc);
+            m_matT.coeffRef(i,n) = internal::imag(cc);
+          }
+          else
+          {
+            // Solve complex equations
+            Scalar x = m_matT.coeff(i,i+1);
+            Scalar y = m_matT.coeff(i+1,i);
+            Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
+            Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
+            if ((vr == 0.0) && (vi == 0.0))
+              vr = eps * norm * (internal::abs(w) + internal::abs(q) + internal::abs(x) + internal::abs(y) + internal::abs(lastw));
+
+	    std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
+            m_matT.coeffRef(i,n-1) = internal::real(cc);
+            m_matT.coeffRef(i,n) = internal::imag(cc);
+            if (internal::abs(x) > (internal::abs(lastw) + internal::abs(q)))
+            {
+              m_matT.coeffRef(i+1,n-1) = (-ra - w * m_matT.coeff(i,n-1) + q * m_matT.coeff(i,n)) / x;
+              m_matT.coeffRef(i+1,n) = (-sa - w * m_matT.coeff(i,n) - q * m_matT.coeff(i,n-1)) / x;
+            }
+            else
+            {
+              cc = cdiv(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n),lastw,q);
+              m_matT.coeffRef(i+1,n-1) = internal::real(cc);
+              m_matT.coeffRef(i+1,n) = internal::imag(cc);
+            }
+          }
+
+          // Overflow control
+          using std::max;
+          Scalar t = (max)(internal::abs(m_matT.coeff(i,n-1)),internal::abs(m_matT.coeff(i,n)));
+          if ((eps * t) * t > Scalar(1))
+            m_matT.block(i, n-1, size-i, 2) /= t;
+
+        }
+      }
+    }
+    else
+    {
+      eigen_assert("Internal bug in EigenSolver"); // this should not happen
+    }
+  }
+
+  // Back transformation to get eigenvectors of original matrix
+  for (Index j = size-1; j >= 0; j--)
+  {
+    m_tmp.noalias() = m_eivec.leftCols(j+1) * m_matT.col(j).segment(0, j+1);
+    m_eivec.col(j) = m_tmp;
+  }
+}
+
+#endif // EIGEN_EIGENSOLVER_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/EigenvaluesCommon.h b/extern/Eigen3/Eigen/src/Eigenvalues/EigenvaluesCommon.h
new file mode 100644
index 00000000000..749bea79500
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/EigenvaluesCommon.h
@@ -0,0 +1,31 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENVALUES_COMMON_H
+#define EIGEN_EIGENVALUES_COMMON_H
+
+
+
+#endif // EIGEN_EIGENVALUES_COMMON_H
+
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/extern/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
new file mode 100644
index 00000000000..980af14ce71
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+#define EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./Tridiagonalization.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class GeneralizedSelfAdjointEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of the generalized selfadjoint eigen problem
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template.
+  *
+  * This class solves the generalized eigenvalue problem
+  * \f$ Av = \lambda Bv \f$. In this case, the matrix \f$ A \f$ should be
+  * selfadjoint and the matrix \f$ B \f$ should be positive definite.
+  *
+  * Only the \b lower \b triangular \b part of the input matrix is referenced.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the
+  * GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+  * constructor which computes the eigenvalues and eigenvectors at construction time.
+  * Once the eigenvalue and eigenvectors are computed, they can be retrieved with the eigenvalues()
+  * and eigenvectors() functions.
+  *
+  * The documentation for GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+  * contains an example of the typical use of this class.
+  *
+  * \sa class SelfAdjointEigenSolver, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixType>
+{
+    typedef SelfAdjointEigenSolver<_MatrixType> Base;
+  public:
+
+    typedef typename Base::Index Index;
+    typedef _MatrixType MatrixType;
+
+    /** \brief Default constructor for fixed-size matrices.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute(). This constructor
+      * can only be used if \p _MatrixType is a fixed-size matrix; use
+      * GeneralizedSelfAdjointEigenSolver(Index) for dynamic-size matrices.
+      */
+    GeneralizedSelfAdjointEigenSolver() : Base() {}
+
+    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose
+      * eigenvalues and eigenvectors will be computed.
+      *
+      * This constructor is useful for dynamic-size matrices, when the user
+      * intends to perform decompositions via compute(). The \p size
+      * parameter is only used as a hint. It is not an error to give a wrong
+      * \p size, but it may impair performance.
+      *
+      * \sa compute() for an example
+      */
+    GeneralizedSelfAdjointEigenSolver(Index size)
+        : Base(size)
+    {}
+
+    /** \brief Constructor; computes generalized eigendecomposition of given matrix pencil.
+      *
+      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  matB  Positive-definite matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
+      *                     Default is #ComputeEigenvectors|#Ax_lBx.
+      *
+      * This constructor calls compute(const MatrixType&, const MatrixType&, int)
+      * to compute the eigenvalues and (if requested) the eigenvectors of the
+      * generalized eigenproblem \f$ Ax = \lambda B x \f$ with \a matA the
+      * selfadjoint matrix \f$ A \f$ and \a matB the positive definite matrix
+      * \f$ B \f$. Each eigenvector \f$ x \f$ satisfies the property
+      * \f$ x^* B x = 1 \f$. The eigenvectors are computed if
+      * \a options contains ComputeEigenvectors.
+      *
+      * In addition, the two following variants can be solved via \p options:
+      * - \c ABx_lx: \f$ ABx = \lambda x \f$
+      * - \c BAx_lx: \f$ BAx = \lambda x \f$
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.out
+      *
+      * \sa compute(const MatrixType&, const MatrixType&, int)
+      */
+    GeneralizedSelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB,
+                                      int options = ComputeEigenvectors|Ax_lBx)
+      : Base(matA.cols())
+    {
+      compute(matA, matB, options);
+    }
+
+    /** \brief Computes generalized eigendecomposition of given matrix pencil.
+      *
+      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  matB  Positive-definite matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
+      *                     Default is #ComputeEigenvectors|#Ax_lBx.
+      *
+      * \returns    Reference to \c *this
+      *
+      * Accoring to \p options, this function computes eigenvalues and (if requested)
+      * the eigenvectors of one of the following three generalized eigenproblems:
+      * - \c Ax_lBx: \f$ Ax = \lambda B x \f$
+      * - \c ABx_lx: \f$ ABx = \lambda x \f$
+      * - \c BAx_lx: \f$ BAx = \lambda x \f$
+      * with \a matA the selfadjoint matrix \f$ A \f$ and \a matB the positive definite
+      * matrix \f$ B \f$.
+      * In addition, each eigenvector \f$ x \f$ satisfies the property \f$ x^* B x = 1 \f$.
+      *
+      * The eigenvalues() function can be used to retrieve
+      * the eigenvalues. If \p options contains ComputeEigenvectors, then the
+      * eigenvectors are also computed and can be retrieved by calling
+      * eigenvectors().
+      *
+      * The implementation uses LLT to compute the Cholesky decomposition
+      * \f$ B = LL^* \f$ and computes the classical eigendecomposition
+      * of the selfadjoint matrix \f$ L^{-1} A (L^*)^{-1} \f$ if \p options contains Ax_lBx
+      * and of \f$ L^{*} A L \f$ otherwise. This solves the
+      * generalized eigenproblem, because any solution of the generalized
+      * eigenproblem \f$ Ax = \lambda B x \f$ corresponds to a solution
+      * \f$ L^{-1} A (L^*)^{-1} (L^* x) = \lambda (L^* x) \f$ of the
+      * eigenproblem for \f$ L^{-1} A (L^*)^{-1} \f$. Similar statements
+      * can be made for the two other variants.
+      *
+      * Example: \include SelfAdjointEigenSolver_compute_MatrixType2.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType2.out
+      *
+      * \sa GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+      */
+    GeneralizedSelfAdjointEigenSolver& compute(const MatrixType& matA, const MatrixType& matB,
+                                               int options = ComputeEigenvectors|Ax_lBx);
+
+  protected:
+
+};
+
+
+template<typename MatrixType>
+GeneralizedSelfAdjointEigenSolver<MatrixType>& GeneralizedSelfAdjointEigenSolver<MatrixType>::
+compute(const MatrixType& matA, const MatrixType& matB, int options)
+{
+  eigen_assert(matA.cols()==matA.rows() && matB.rows()==matA.rows() && matB.cols()==matB.rows());
+  eigen_assert((options&~(EigVecMask|GenEigMask))==0
+          && (options&EigVecMask)!=EigVecMask
+          && ((options&GenEigMask)==0 || (options&GenEigMask)==Ax_lBx
+           || (options&GenEigMask)==ABx_lx || (options&GenEigMask)==BAx_lx)
+          && "invalid option parameter");
+
+  bool computeEigVecs = ((options&EigVecMask)==0) || ((options&EigVecMask)==ComputeEigenvectors);
+
+  // Compute the cholesky decomposition of matB = L L' = U'U
+  LLT<MatrixType> cholB(matB);
+
+  int type = (options&GenEigMask);
+  if(type==0)
+    type = Ax_lBx;
+
+  if(type==Ax_lBx)
+  {
+    // compute C = inv(L) A inv(L')
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    cholB.matrixL().template solveInPlace<OnTheLeft>(matC);
+    cholB.matrixU().template solveInPlace<OnTheRight>(matC);
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly );
+
+    // transform back the eigen vectors: evecs = inv(U) * evecs
+    if(computeEigVecs)
+      cholB.matrixU().solveInPlace(Base::m_eivec);
+  }
+  else if(type==ABx_lx)
+  {
+    // compute C = L' A L
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    matC = matC * cholB.matrixL();
+    matC = cholB.matrixU() * matC;
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+    // transform back the eigen vectors: evecs = inv(U) * evecs
+    if(computeEigVecs)
+      cholB.matrixU().solveInPlace(Base::m_eivec);
+  }
+  else if(type==BAx_lx)
+  {
+    // compute C = L' A L
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    matC = matC * cholB.matrixL();
+    matC = cholB.matrixU() * matC;
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+    // transform back the eigen vectors: evecs = L * evecs
+    if(computeEigVecs)
+      Base::m_eivec = cholB.matrixL() * Base::m_eivec;
+  }
+
+  return *this;
+}
+
+#endif // EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/extern/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
new file mode 100644
index 00000000000..c17f155a59b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -0,0 +1,384 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HESSENBERGDECOMPOSITION_H
+#define EIGEN_HESSENBERGDECOMPOSITION_H
+
+namespace internal {
+  
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType;
+template<typename MatrixType>
+struct traits<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+  typedef MatrixType ReturnType;
+};
+
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class HessenbergDecomposition
+  *
+  * \brief Reduces a square matrix to Hessenberg form by an orthogonal similarity transformation
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the Hessenberg decomposition
+  *
+  * This class performs an Hessenberg decomposition of a matrix \f$ A \f$. In
+  * the real case, the Hessenberg decomposition consists of an orthogonal
+  * matrix \f$ Q \f$ and a Hessenberg matrix \f$ H \f$ such that \f$ A = Q H
+  * Q^T \f$. An orthogonal matrix is a matrix whose inverse equals its
+  * transpose (\f$ Q^{-1} = Q^T \f$). A Hessenberg matrix has zeros below the
+  * subdiagonal, so it is almost upper triangular. The Hessenberg decomposition
+  * of a complex matrix is \f$ A = Q H Q^* \f$ with \f$ Q \f$ unitary (that is,
+  * \f$ Q^{-1} = Q^* \f$).
+  *
+  * Call the function compute() to compute the Hessenberg decomposition of a
+  * given matrix. Alternatively, you can use the
+  * HessenbergDecomposition(const MatrixType&) constructor which computes the
+  * Hessenberg decomposition at construction time. Once the decomposition is
+  * computed, you can use the matrixH() and matrixQ() functions to construct
+  * the matrices H and Q in the decomposition.
+  *
+  * The documentation for matrixH() contains an example of the typical use of
+  * this class.
+  *
+  * \sa class ComplexSchur, class Tridiagonalization, \ref QR_Module "QR Module"
+  */
+template<typename _MatrixType> class HessenbergDecomposition
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      SizeMinusOne = Size == Dynamic ? Dynamic : Size - 1,
+      Options = MatrixType::Options,
+      MaxSize = MatrixType::MaxRowsAtCompileTime,
+      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : MaxSize - 1
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Type for vector of Householder coefficients.
+      *
+      * This is column vector with entries of type #Scalar. The length of the
+      * vector is one less than the size of #MatrixType, if it is a fixed-side
+      * type.
+      */
+    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+
+    /** \brief Return type of matrixQ() */
+    typedef typename HouseholderSequence<MatrixType,CoeffVectorType>::ConjugateReturnType HouseholderSequenceType;
+    
+    typedef internal::HessenbergDecompositionMatrixHReturnType<MatrixType> MatrixHReturnType;
+
+    /** \brief Default constructor; the decomposition will be computed later.
+      *
+      * \param [in] size  The size of the matrix whose Hessenberg decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
+      : m_matrix(size,size),
+        m_temp(size),
+        m_isInitialized(false)
+    {
+      if(size>1)
+        m_hCoeffs.resize(size-1);
+    }
+
+    /** \brief Constructor; computes Hessenberg decomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
+      *
+      * This constructor calls compute() to compute the Hessenberg
+      * decomposition.
+      *
+      * \sa matrixH() for an example.
+      */
+    HessenbergDecomposition(const MatrixType& matrix)
+      : m_matrix(matrix),
+        m_temp(matrix.rows()),
+        m_isInitialized(false)
+    {
+      if(matrix.rows()<2)
+      {
+        m_isInitialized = true;
+        return;
+      }
+      m_hCoeffs.resize(matrix.rows()-1,1);
+      _compute(m_matrix, m_hCoeffs, m_temp);
+      m_isInitialized = true;
+    }
+
+    /** \brief Computes Hessenberg decomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
+      * \returns    Reference to \c *this
+      *
+      * The Hessenberg decomposition is computed by bringing the columns of the
+      * matrix successively in the required form using Householder reflections
+      * (see, e.g., Algorithm 7.4.2 in Golub \& Van Loan, <i>%Matrix
+      * Computations</i>). The cost is \f$ 10n^3/3 \f$ flops, where \f$ n \f$
+      * denotes the size of the given matrix.
+      *
+      * This method reuses of the allocated data in the HessenbergDecomposition
+      * object.
+      *
+      * Example: \include HessenbergDecomposition_compute.cpp
+      * Output: \verbinclude HessenbergDecomposition_compute.out
+      */
+    HessenbergDecomposition& compute(const MatrixType& matrix)
+    {
+      m_matrix = matrix;
+      if(matrix.rows()<2)
+      {
+        m_isInitialized = true;
+        return *this;
+      }
+      m_hCoeffs.resize(matrix.rows()-1,1);
+      _compute(m_matrix, m_hCoeffs, m_temp);
+      m_isInitialized = true;
+      return *this;
+    }
+
+    /** \brief Returns the Householder coefficients.
+      *
+      * \returns a const reference to the vector of Householder coefficients
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The Householder coefficients allow the reconstruction of the matrix
+      * \f$ Q \f$ in the Hessenberg decomposition from the packed data.
+      *
+      * \sa packedMatrix(), \ref Householder_Module "Householder module"
+      */
+    const CoeffVectorType& householderCoefficients() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return m_hCoeffs;
+    }
+
+    /** \brief Returns the internal representation of the decomposition
+      *
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The returned matrix contains the following information:
+      *  - the upper part and lower sub-diagonal represent the Hessenberg matrix H
+      *  - the rest of the lower part contains the Householder vectors that, combined with
+      *    Householder coefficients returned by householderCoefficients(),
+      *    allows to reconstruct the matrix Q as
+      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
+      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+      *    \f$ v_i \f$ is the Householder vector defined by
+      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+      *    with M the matrix returned by this function.
+      *
+      * See LAPACK for further details on this packed storage.
+      *
+      * Example: \include HessenbergDecomposition_packedMatrix.cpp
+      * Output: \verbinclude HessenbergDecomposition_packedMatrix.out
+      *
+      * \sa householderCoefficients()
+      */
+    const MatrixType& packedMatrix() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return m_matrix;
+    }
+
+    /** \brief Reconstructs the orthogonal matrix Q in the decomposition
+      *
+      * \returns object representing the matrix Q
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * This function returns a light-weight object of template class
+      * HouseholderSequence. You can either apply it directly to a matrix or
+      * you can convert it to a matrix of type #MatrixType.
+      *
+      * \sa matrixH() for an example, class HouseholderSequence
+      */
+    HouseholderSequenceType matrixQ() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+             .setLength(m_matrix.rows() - 1)
+             .setShift(1);
+    }
+
+    /** \brief Constructs the Hessenberg matrix H in the decomposition
+      *
+      * \returns expression object representing the matrix H
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The object returned by this function constructs the Hessenberg matrix H
+      * when it is assigned to a matrix or otherwise evaluated. The matrix H is
+      * constructed from the packed matrix as returned by packedMatrix(): The
+      * upper part (including the subdiagonal) of the packed matrix contains
+      * the matrix H. It may sometimes be better to directly use the packed
+      * matrix instead of constructing the matrix H.
+      *
+      * Example: \include HessenbergDecomposition_matrixH.cpp
+      * Output: \verbinclude HessenbergDecomposition_matrixH.out
+      *
+      * \sa matrixQ(), packedMatrix()
+      */
+    MatrixHReturnType matrixH() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return MatrixHReturnType(*this);
+    }
+
+  private:
+
+    typedef Matrix<Scalar, 1, Size, Options | RowMajor, 1, MaxSize> VectorType;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp);
+
+  protected:
+    MatrixType m_matrix;
+    CoeffVectorType m_hCoeffs;
+    VectorType m_temp;
+    bool m_isInitialized;
+};
+
+/** \internal
+  * Performs a tridiagonal decomposition of \a matA in place.
+  *
+  * \param matA the input selfadjoint matrix
+  * \param hCoeffs returned Householder coefficients
+  *
+  * The result is written in the lower triangular part of \a matA.
+  *
+  * Implemented from Golub's "%Matrix Computations", algorithm 8.3.1.
+  *
+  * \sa packedMatrix()
+  */
+template<typename MatrixType>
+void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp)
+{
+  assert(matA.rows()==matA.cols());
+  Index n = matA.rows();
+  temp.resize(n);
+  for (Index i = 0; i<n-1; ++i)
+  {
+    // let's consider the vector v = i-th column starting at position i+1
+    Index remainingSize = n-i-1;
+    RealScalar beta;
+    Scalar h;
+    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+    matA.col(i).coeffRef(i+1) = beta;
+    hCoeffs.coeffRef(i) = h;
+
+    // Apply similarity transformation to remaining columns,
+    // i.e., compute A = H A H'
+
+    // A = H A
+    matA.bottomRightCorner(remainingSize, remainingSize)
+        .applyHouseholderOnTheLeft(matA.col(i).tail(remainingSize-1), h, &temp.coeffRef(0));
+
+    // A = A H'
+    matA.rightCols(remainingSize)
+        .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1).conjugate(), internal::conj(h), &temp.coeffRef(0));
+  }
+}
+
+namespace internal {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \brief Expression type for return value of HessenbergDecomposition::matrixH()
+  *
+  * \tparam MatrixType type of matrix in the Hessenberg decomposition
+  *
+  * Objects of this type represent the Hessenberg matrix in the Hessenberg
+  * decomposition of some matrix. The object holds a reference to the
+  * HessenbergDecomposition class until the it is assigned or evaluated for
+  * some other reason (the reference should remain valid during the life time
+  * of this object). This class is the return type of
+  * HessenbergDecomposition::matrixH(); there is probably no other use for this
+  * class.
+  */
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
+: public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+    typedef typename MatrixType::Index Index;
+  public:
+    /** \brief Constructor.
+      *
+      * \param[in] hess  Hessenberg decomposition
+      */
+    HessenbergDecompositionMatrixHReturnType(const HessenbergDecomposition<MatrixType>& hess) : m_hess(hess) { }
+
+    /** \brief Hessenberg matrix in decomposition.
+      *
+      * \param[out] result  Hessenberg matrix in decomposition \p hess which
+      *                     was passed to the constructor
+      */
+    template <typename ResultType>
+    inline void evalTo(ResultType& result) const
+    {
+      result = m_hess.packedMatrix();
+      Index n = result.rows();
+      if (n>2)
+        result.bottomLeftCorner(n-2, n-2).template triangularView<Lower>().setZero();
+    }
+
+    Index rows() const { return m_hess.packedMatrix().rows(); }
+    Index cols() const { return m_hess.packedMatrix().cols(); }
+
+  protected:
+    const HessenbergDecomposition<MatrixType>& m_hess;
+};
+
+}
+
+#endif // EIGEN_HESSENBERGDECOMPOSITION_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/extern/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
new file mode 100644
index 00000000000..5591519fb75
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
@@ -0,0 +1,170 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXBASEEIGENVALUES_H
+#define EIGEN_MATRIXBASEEIGENVALUES_H
+
+namespace internal {
+
+template<typename Derived, bool IsComplex>
+struct eigenvalues_selector
+{
+  // this is the implementation for the case IsComplex = true
+  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+  run(const MatrixBase<Derived>& m)
+  {
+    typedef typename Derived::PlainObject PlainObject;
+    PlainObject m_eval(m);
+    return ComplexEigenSolver<PlainObject>(m_eval, false).eigenvalues();
+  }
+};
+
+template<typename Derived>
+struct eigenvalues_selector<Derived, false>
+{
+  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+  run(const MatrixBase<Derived>& m)
+  {
+    typedef typename Derived::PlainObject PlainObject;
+    PlainObject m_eval(m);
+    return EigenSolver<PlainObject>(m_eval, false).eigenvalues();
+  }
+};
+
+} // end namespace internal
+
+/** \brief Computes the eigenvalues of a matrix 
+  * \returns Column vector containing the eigenvalues.
+  *
+  * \eigenvalues_module
+  * This function computes the eigenvalues with the help of the EigenSolver
+  * class (for real matrices) or the ComplexEigenSolver class (for complex
+  * matrices). 
+  *
+  * The eigenvalues are repeated according to their algebraic multiplicity,
+  * so there are as many eigenvalues as rows in the matrix.
+  *
+  * The SelfAdjointView class provides a better algorithm for selfadjoint
+  * matrices.
+  *
+  * Example: \include MatrixBase_eigenvalues.cpp
+  * Output: \verbinclude MatrixBase_eigenvalues.out
+  *
+  * \sa EigenSolver::eigenvalues(), ComplexEigenSolver::eigenvalues(),
+  *     SelfAdjointView::eigenvalues()
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::EigenvaluesReturnType
+MatrixBase<Derived>::eigenvalues() const
+{
+  typedef typename internal::traits<Derived>::Scalar Scalar;
+  return internal::eigenvalues_selector<Derived, NumTraits<Scalar>::IsComplex>::run(derived());
+}
+
+/** \brief Computes the eigenvalues of a matrix
+  * \returns Column vector containing the eigenvalues.
+  *
+  * \eigenvalues_module
+  * This function computes the eigenvalues with the help of the
+  * SelfAdjointEigenSolver class.  The eigenvalues are repeated according to
+  * their algebraic multiplicity, so there are as many eigenvalues as rows in
+  * the matrix.
+  *
+  * Example: \include SelfAdjointView_eigenvalues.cpp
+  * Output: \verbinclude SelfAdjointView_eigenvalues.out
+  *
+  * \sa SelfAdjointEigenSolver::eigenvalues(), MatrixBase::eigenvalues()
+  */
+template<typename MatrixType, unsigned int UpLo> 
+inline typename SelfAdjointView<MatrixType, UpLo>::EigenvaluesReturnType
+SelfAdjointView<MatrixType, UpLo>::eigenvalues() const
+{
+  typedef typename SelfAdjointView<MatrixType, UpLo>::PlainObject PlainObject;
+  PlainObject thisAsMatrix(*this);
+  return SelfAdjointEigenSolver<PlainObject>(thisAsMatrix, false).eigenvalues();
+}
+
+
+
+/** \brief Computes the L2 operator norm
+  * \returns Operator norm of the matrix.
+  *
+  * \eigenvalues_module
+  * This function computes the L2 operator norm of a matrix, which is also
+  * known as the spectral norm. The norm of a matrix \f$ A \f$ is defined to be
+  * \f[ \|A\|_2 = \max_x \frac{\|Ax\|_2}{\|x\|_2} \f]
+  * where the maximum is over all vectors and the norm on the right is the
+  * Euclidean vector norm. The norm equals the largest singular value, which is
+  * the square root of the largest eigenvalue of the positive semi-definite
+  * matrix \f$ A^*A \f$.
+  *
+  * The current implementation uses the eigenvalues of \f$ A^*A \f$, as computed
+  * by SelfAdjointView::eigenvalues(), to compute the operator norm of a
+  * matrix.  The SelfAdjointView class provides a better algorithm for
+  * selfadjoint matrices.
+  *
+  * Example: \include MatrixBase_operatorNorm.cpp
+  * Output: \verbinclude MatrixBase_operatorNorm.out
+  *
+  * \sa SelfAdjointView::eigenvalues(), SelfAdjointView::operatorNorm()
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::RealScalar
+MatrixBase<Derived>::operatorNorm() const
+{
+  typename Derived::PlainObject m_eval(derived());
+  // FIXME if it is really guaranteed that the eigenvalues are already sorted,
+  // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
+  return internal::sqrt((m_eval*m_eval.adjoint())
+                 .eval()
+		 .template selfadjointView<Lower>()
+		 .eigenvalues()
+		 .maxCoeff()
+		 );
+}
+
+/** \brief Computes the L2 operator norm
+  * \returns Operator norm of the matrix.
+  *
+  * \eigenvalues_module
+  * This function computes the L2 operator norm of a self-adjoint matrix. For a
+  * self-adjoint matrix, the operator norm is the largest eigenvalue.
+  *
+  * The current implementation uses the eigenvalues of the matrix, as computed
+  * by eigenvalues(), to compute the operator norm of the matrix.
+  *
+  * Example: \include SelfAdjointView_operatorNorm.cpp
+  * Output: \verbinclude SelfAdjointView_operatorNorm.out
+  *
+  * \sa eigenvalues(), MatrixBase::operatorNorm()
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline typename SelfAdjointView<MatrixType, UpLo>::RealScalar
+SelfAdjointView<MatrixType, UpLo>::operatorNorm() const
+{
+  return eigenvalues().cwiseAbs().maxCoeff();
+}
+
+#endif
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/RealSchur.h b/extern/Eigen3/Eigen/src/Eigenvalues/RealSchur.h
new file mode 100644
index 00000000000..cc9af11c117
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/RealSchur.h
@@ -0,0 +1,474 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REAL_SCHUR_H
+#define EIGEN_REAL_SCHUR_H
+
+#include "./EigenvaluesCommon.h"
+#include "./HessenbergDecomposition.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class RealSchur
+  *
+  * \brief Performs a real Schur decomposition of a square matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * real Schur decomposition; this is expected to be an instantiation of the
+  * Matrix class template.
+  *
+  * Given a real square matrix A, this class computes the real Schur
+  * decomposition: \f$ A = U T U^T \f$ where U is a real orthogonal matrix and
+  * T is a real quasi-triangular matrix. An orthogonal matrix is a matrix whose
+  * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
+  * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
+  * blocks and 2-by-2 blocks with complex eigenvalues. The eigenvalues of the
+  * blocks on the diagonal of T are the same as the eigenvalues of the matrix
+  * A, and thus the real Schur decomposition is used in EigenSolver to compute
+  * the eigendecomposition of a matrix.
+  *
+  * Call the function compute() to compute the real Schur decomposition of a
+  * given matrix. Alternatively, you can use the RealSchur(const MatrixType&, bool)
+  * constructor which computes the real Schur decomposition at construction
+  * time. Once the decomposition is computed, you can use the matrixU() and
+  * matrixT() functions to retrieve the matrices U and T in the decomposition.
+  *
+  * The documentation of RealSchur(const MatrixType&, bool) contains an example
+  * of the typical use of this class.
+  *
+  * \note The implementation is adapted from
+  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+  * Their code is based on EISPACK.
+  *
+  * \sa class ComplexSchur, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class RealSchur
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+    typedef typename MatrixType::Index Index;
+
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+            : m_matT(size, size),
+              m_matU(size, size),
+              m_workspaceVector(size),
+              m_hess(size),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    { }
+
+    /** \brief Constructor; computes real Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      *
+      * This constructor calls compute() to compute the Schur decomposition.
+      *
+      * Example: \include RealSchur_RealSchur_MatrixType.cpp
+      * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
+      */
+    RealSchur(const MatrixType& matrix, bool computeU = true)
+            : m_matT(matrix.rows(),matrix.cols()),
+              m_matU(matrix.rows(),matrix.cols()),
+              m_workspaceVector(matrix.rows()),
+              m_hess(matrix.rows()),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    {
+      compute(matrix, computeU);
+    }
+
+    /** \brief Returns the orthogonal matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix U.
+      *
+      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+      * member function compute(const MatrixType&, bool) has been called before
+      * to compute the Schur decomposition of a matrix, and \p computeU was set
+      * to true (the default value).
+      *
+      * \sa RealSchur(const MatrixType&, bool) for an example
+      */
+    const MatrixType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the RealSchur decomposition.");
+      return m_matU;
+    }
+
+    /** \brief Returns the quasi-triangular matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix T.
+      *
+      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+      * member function compute(const MatrixType&, bool) has been called before
+      * to compute the Schur decomposition of a matrix.
+      *
+      * \sa RealSchur(const MatrixType&, bool) for an example
+      */
+    const MatrixType& matrixT() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_matT;
+    }
+  
+    /** \brief Computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      * \returns    Reference to \c *this
+      *
+      * The Schur decomposition is computed by first reducing the matrix to
+      * Hessenberg form using the class HessenbergDecomposition. The Hessenberg
+      * matrix is then reduced to triangular form by performing Francis QR
+      * iterations with implicit double shift. The cost of computing the Schur
+      * decomposition depends on the number of iterations; as a rough guide, it
+      * may be taken to be \f$25n^3\f$ flops if \a computeU is true and
+      * \f$10n^3\f$ flops if \a computeU is false.
+      *
+      * Example: \include RealSchur_compute.cpp
+      * Output: \verbinclude RealSchur_compute.out
+      */
+    RealSchur& compute(const MatrixType& matrix, bool computeU = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge. 
+      */
+    static const int m_maxIterations = 40;
+
+  private:
+    
+    MatrixType m_matT;
+    MatrixType m_matU;
+    ColumnVectorType m_workspaceVector;
+    HessenbergDecomposition<MatrixType> m_hess;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_matUisUptodate;
+
+    typedef Matrix<Scalar,3,1> Vector3s;
+
+    Scalar computeNormOfT();
+    Index findSmallSubdiagEntry(Index iu, Scalar norm);
+    void splitOffTwoRows(Index iu, bool computeU, Scalar exshift);
+    void computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo);
+    void initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector);
+    void performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace);
+};
+
+
+template<typename MatrixType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+{
+  assert(matrix.cols() == matrix.rows());
+
+  // Step 1. Reduce to Hessenberg form
+  m_hess.compute(matrix);
+  m_matT = m_hess.matrixH();
+  if (computeU)
+    m_matU = m_hess.matrixQ();
+
+  // Step 2. Reduce to real Schur form  
+  m_workspaceVector.resize(m_matT.cols());
+  Scalar* workspace = &m_workspaceVector.coeffRef(0);
+
+  // The matrix m_matT is divided in three parts. 
+  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
+  // Rows il,...,iu is the part we are working on (the active window).
+  // Rows iu+1,...,end are already brought in triangular form.
+  Index iu = m_matT.cols() - 1;
+  Index iter = 0; // iteration count
+  Scalar exshift = 0.0; // sum of exceptional shifts
+  Scalar norm = computeNormOfT();
+
+  while (iu >= 0)
+  {
+    Index il = findSmallSubdiagEntry(iu, norm);
+
+    // Check for convergence
+    if (il == iu) // One root found
+    {
+      m_matT.coeffRef(iu,iu) = m_matT.coeff(iu,iu) + exshift;
+      if (iu > 0) 
+        m_matT.coeffRef(iu, iu-1) = Scalar(0);
+      iu--;
+      iter = 0;
+    }
+    else if (il == iu-1) // Two roots found
+    {
+      splitOffTwoRows(iu, computeU, exshift);
+      iu -= 2;
+      iter = 0;
+    }
+    else // No convergence yet
+    {
+      // The firstHouseholderVector vector has to be initialized to something to get rid of a silly GCC warning (-O1 -Wall -DNDEBUG )
+      Vector3s firstHouseholderVector(0,0,0), shiftInfo;
+      computeShift(iu, iter, exshift, shiftInfo);
+      iter = iter + 1; 
+      if (iter > m_maxIterations) break;
+      Index im;
+      initFrancisQRStep(il, iu, shiftInfo, im, firstHouseholderVector);
+      performFrancisQRStep(il, im, iu, computeU, firstHouseholderVector, workspace);
+    }
+  } 
+
+  if(iter <= m_maxIterations) 
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  m_isInitialized = true;
+  m_matUisUptodate = computeU;
+  return *this;
+}
+
+/** \internal Computes and returns vector L1 norm of T */
+template<typename MatrixType>
+inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
+{
+  const Index size = m_matT.cols();
+  // FIXME to be efficient the following would requires a triangular reduxion code
+  // Scalar norm = m_matT.upper().cwiseAbs().sum() 
+  //               + m_matT.bottomLeftCorner(size-1,size-1).diagonal().cwiseAbs().sum();
+  Scalar norm = 0.0;
+  for (Index j = 0; j < size; ++j)
+    norm += m_matT.row(j).segment((std::max)(j-1,Index(0)), size-(std::max)(j-1,Index(0))).cwiseAbs().sum();
+  return norm;
+}
+
+/** \internal Look for single small sub-diagonal element and returns its index */
+template<typename MatrixType>
+inline typename MatrixType::Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu, Scalar norm)
+{
+  Index res = iu;
+  while (res > 0)
+  {
+    Scalar s = internal::abs(m_matT.coeff(res-1,res-1)) + internal::abs(m_matT.coeff(res,res));
+    if (s == 0.0)
+      s = norm;
+    if (internal::abs(m_matT.coeff(res,res-1)) < NumTraits<Scalar>::epsilon() * s)
+      break;
+    res--;
+  }
+  return res;
+}
+
+/** \internal Update T given that rows iu-1 and iu decouple from the rest. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::splitOffTwoRows(Index iu, bool computeU, Scalar exshift)
+{
+  const Index size = m_matT.cols();
+
+  // The eigenvalues of the 2x2 matrix [a b; c d] are 
+  // trace +/- sqrt(discr/4) where discr = tr^2 - 4*det, tr = a + d, det = ad - bc
+  Scalar p = Scalar(0.5) * (m_matT.coeff(iu-1,iu-1) - m_matT.coeff(iu,iu));
+  Scalar q = p * p + m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);   // q = tr^2 / 4 - det = discr/4
+  m_matT.coeffRef(iu,iu) += exshift;
+  m_matT.coeffRef(iu-1,iu-1) += exshift;
+
+  if (q >= Scalar(0)) // Two real eigenvalues
+  {
+    Scalar z = internal::sqrt(internal::abs(q));
+    JacobiRotation<Scalar> rot;
+    if (p >= Scalar(0))
+      rot.makeGivens(p + z, m_matT.coeff(iu, iu-1));
+    else
+      rot.makeGivens(p - z, m_matT.coeff(iu, iu-1));
+
+    m_matT.rightCols(size-iu+1).applyOnTheLeft(iu-1, iu, rot.adjoint());
+    m_matT.topRows(iu+1).applyOnTheRight(iu-1, iu, rot);
+    m_matT.coeffRef(iu, iu-1) = Scalar(0); 
+    if (computeU)
+      m_matU.applyOnTheRight(iu-1, iu, rot);
+  }
+
+  if (iu > 1) 
+    m_matT.coeffRef(iu-1, iu-2) = Scalar(0);
+}
+
+/** \internal Form shift in shiftInfo, and update exshift if an exceptional shift is performed. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo)
+{
+  shiftInfo.coeffRef(0) = m_matT.coeff(iu,iu);
+  shiftInfo.coeffRef(1) = m_matT.coeff(iu-1,iu-1);
+  shiftInfo.coeffRef(2) = m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);
+
+  // Wilkinson's original ad hoc shift
+  if (iter == 10)
+  {
+    exshift += shiftInfo.coeff(0);
+    for (Index i = 0; i <= iu; ++i)
+      m_matT.coeffRef(i,i) -= shiftInfo.coeff(0);
+    Scalar s = internal::abs(m_matT.coeff(iu,iu-1)) + internal::abs(m_matT.coeff(iu-1,iu-2));
+    shiftInfo.coeffRef(0) = Scalar(0.75) * s;
+    shiftInfo.coeffRef(1) = Scalar(0.75) * s;
+    shiftInfo.coeffRef(2) = Scalar(-0.4375) * s * s;
+  }
+
+  // MATLAB's new ad hoc shift
+  if (iter == 30)
+  {
+    Scalar s = (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+    s = s * s + shiftInfo.coeff(2);
+    if (s > Scalar(0))
+    {
+      s = internal::sqrt(s);
+      if (shiftInfo.coeff(1) < shiftInfo.coeff(0))
+        s = -s;
+      s = s + (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+      s = shiftInfo.coeff(0) - shiftInfo.coeff(2) / s;
+      exshift += s;
+      for (Index i = 0; i <= iu; ++i)
+        m_matT.coeffRef(i,i) -= s;
+      shiftInfo.setConstant(Scalar(0.964));
+    }
+  }
+}
+
+/** \internal Compute index im at which Francis QR step starts and the first Householder vector. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector)
+{
+  Vector3s& v = firstHouseholderVector; // alias to save typing
+
+  for (im = iu-2; im >= il; --im)
+  {
+    const Scalar Tmm = m_matT.coeff(im,im);
+    const Scalar r = shiftInfo.coeff(0) - Tmm;
+    const Scalar s = shiftInfo.coeff(1) - Tmm;
+    v.coeffRef(0) = (r * s - shiftInfo.coeff(2)) / m_matT.coeff(im+1,im) + m_matT.coeff(im,im+1);
+    v.coeffRef(1) = m_matT.coeff(im+1,im+1) - Tmm - r - s;
+    v.coeffRef(2) = m_matT.coeff(im+2,im+1);
+    if (im == il) {
+      break;
+    }
+    const Scalar lhs = m_matT.coeff(im,im-1) * (internal::abs(v.coeff(1)) + internal::abs(v.coeff(2)));
+    const Scalar rhs = v.coeff(0) * (internal::abs(m_matT.coeff(im-1,im-1)) + internal::abs(Tmm) + internal::abs(m_matT.coeff(im+1,im+1)));
+    if (internal::abs(lhs) < NumTraits<Scalar>::epsilon() * rhs)
+    {
+      break;
+    }
+  }
+}
+
+/** \internal Perform a Francis QR step involving rows il:iu and columns im:iu. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace)
+{
+  assert(im >= il);
+  assert(im <= iu-2);
+
+  const Index size = m_matT.cols();
+
+  for (Index k = im; k <= iu-2; ++k)
+  {
+    bool firstIteration = (k == im);
+
+    Vector3s v;
+    if (firstIteration)
+      v = firstHouseholderVector;
+    else
+      v = m_matT.template block<3,1>(k,k-1);
+
+    Scalar tau, beta;
+    Matrix<Scalar, 2, 1> ess;
+    v.makeHouseholder(ess, tau, beta);
+    
+    if (beta != Scalar(0)) // if v is not zero
+    {
+      if (firstIteration && k > il)
+        m_matT.coeffRef(k,k-1) = -m_matT.coeff(k,k-1);
+      else if (!firstIteration)
+        m_matT.coeffRef(k,k-1) = beta;
+
+      // These Householder transformations form the O(n^3) part of the algorithm
+      m_matT.block(k, k, 3, size-k).applyHouseholderOnTheLeft(ess, tau, workspace);
+      m_matT.block(0, k, (std::min)(iu,k+3) + 1, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+      if (computeU)
+        m_matU.block(0, k, size, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+    }
+  }
+
+  Matrix<Scalar, 2, 1> v = m_matT.template block<2,1>(iu-1, iu-2);
+  Scalar tau, beta;
+  Matrix<Scalar, 1, 1> ess;
+  v.makeHouseholder(ess, tau, beta);
+
+  if (beta != Scalar(0)) // if v is not zero
+  {
+    m_matT.coeffRef(iu-1, iu-2) = beta;
+    m_matT.block(iu-1, iu-1, 2, size-iu+1).applyHouseholderOnTheLeft(ess, tau, workspace);
+    m_matT.block(0, iu-1, iu+1, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+    if (computeU)
+      m_matU.block(0, iu-1, size, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+  }
+
+  // clean up pollution due to round-off errors
+  for (Index i = im+2; i <= iu; ++i)
+  {
+    m_matT.coeffRef(i,i-2) = Scalar(0);
+    if (i > im+2)
+      m_matT.coeffRef(i,i-3) = Scalar(0);
+  }
+}
+
+#endif // EIGEN_REAL_SCHUR_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/extern/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
new file mode 100644
index 00000000000..965dda88bda
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -0,0 +1,520 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
+#define EIGEN_SELFADJOINTEIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./Tridiagonalization.h"
+
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver;
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class SelfAdjointEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of selfadjoint matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template.
+  *
+  * A matrix \f$ A \f$ is selfadjoint if it equals its adjoint. For real
+  * matrices, this means that the matrix is symmetric: it equals its
+  * transpose. This class computes the eigenvalues and eigenvectors of a
+  * selfadjoint matrix. These are the scalars \f$ \lambda \f$ and vectors
+  * \f$ v \f$ such that \f$ Av = \lambda v \f$.  The eigenvalues of a
+  * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
+  * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
+  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$ (for selfadjoint
+  * matrices, the matrix \f$ V \f$ is always invertible). This is called the
+  * eigendecomposition.
+  *
+  * The algorithm exploits the fact that the matrix is selfadjoint, making it
+  * faster and more accurate than the general purpose eigenvalue algorithms
+  * implemented in EigenSolver and ComplexEigenSolver.
+  *
+  * Only the \b lower \b triangular \b part of the input matrix is referenced.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the
+  * SelfAdjointEigenSolver(const MatrixType&, int) constructor which computes
+  * the eigenvalues and eigenvectors at construction time. Once the eigenvalue
+  * and eigenvectors are computed, they can be retrieved with the eigenvalues()
+  * and eigenvectors() functions.
+  *
+  * The documentation for SelfAdjointEigenSolver(const MatrixType&, int)
+  * contains an example of the typical use of this class.
+  *
+  * To solve the \em generalized eigenvalue problem \f$ Av = \lambda Bv \f$ and
+  * the likes, see the class GeneralizedSelfAdjointEigenSolver.
+  *
+  * \sa MatrixBase::eigenvalues(), class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class SelfAdjointEigenSolver
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type \p _MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Real scalar type for \p _MatrixType.
+      *
+      * This is just \c Scalar if #Scalar is real (e.g., \c float or
+      * \c double), and the type of the real part of \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+      *
+      * This is a column vector with entries of type #RealScalar.
+      * The length of the vector is the size of \p _MatrixType.
+      */
+    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
+    typedef Tridiagonalization<MatrixType> TridiagonalizationType;
+
+    /** \brief Default constructor for fixed-size matrices.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute(). This constructor
+      * can only be used if \p _MatrixType is a fixed-size matrix; use
+      * SelfAdjointEigenSolver(Index) for dynamic-size matrices.
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
+      */
+    SelfAdjointEigenSolver()
+        : m_eivec(),
+          m_eivalues(),
+          m_subdiag(),
+          m_isInitialized(false)
+    { }
+
+    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose
+      * eigenvalues and eigenvectors will be computed.
+      *
+      * This constructor is useful for dynamic-size matrices, when the user
+      * intends to perform decompositions via compute(). The \p size
+      * parameter is only used as a hint. It is not an error to give a wrong
+      * \p size, but it may impair performance.
+      *
+      * \sa compute() for an example
+      */
+    SelfAdjointEigenSolver(Index size)
+        : m_eivec(size, size),
+          m_eivalues(size),
+          m_subdiag(size > 1 ? size - 1 : 1),
+          m_isInitialized(false)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
+      *    be computed. Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+      *
+      * This constructor calls compute(const MatrixType&, int) to compute the
+      * eigenvalues of the matrix \p matrix. The eigenvectors are computed if
+      * \p options equals #ComputeEigenvectors.
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.out
+      *
+      * \sa compute(const MatrixType&, int)
+      */
+    SelfAdjointEigenSolver(const MatrixType& matrix, int options = ComputeEigenvectors)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
+        m_isInitialized(false)
+    {
+      compute(matrix, options);
+    }
+
+    /** \brief Computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
+      *    be computed. Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of \p matrix.  The eigenvalues()
+      * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
+      * then the eigenvectors are also computed and can be retrieved by
+      * calling eigenvectors().
+      *
+      * This implementation uses a symmetric QR algorithm. The matrix is first
+      * reduced to tridiagonal form using the Tridiagonalization class. The
+      * tridiagonal matrix is then brought to diagonal form with implicit
+      * symmetric QR steps with Wilkinson shift. Details can be found in
+      * Section 8.3 of Golub \& Van Loan, <i>%Matrix Computations</i>.
+      *
+      * The cost of the computation is about \f$ 9n^3 \f$ if the eigenvectors
+      * are required and \f$ 4n^3/3 \f$ if they are not required.
+      *
+      * This method reuses the memory in the SelfAdjointEigenSolver object that
+      * was allocated when the object was constructed, if the size of the
+      * matrix does not change.
+      *
+      * Example: \include SelfAdjointEigenSolver_compute_MatrixType.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType.out
+      *
+      * \sa SelfAdjointEigenSolver(const MatrixType&, int)
+      */
+    SelfAdjointEigenSolver& compute(const MatrixType& matrix, int options = ComputeEigenvectors);
+
+    /** \brief Returns the eigenvectors of given matrix.
+      *
+      * \returns  A const reference to the matrix whose columns are the eigenvectors.
+      *
+      * \pre The eigenvectors have been computed before.
+      *
+      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
+      * eigenvectors are normalized to have (Euclidean) norm equal to one. If
+      * this object was used to solve the eigenproblem for the selfadjoint
+      * matrix \f$ A \f$, then the matrix returned by this function is the
+      * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
+      *
+      * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
+      *
+      * \sa eigenvalues()
+      */
+    const MatrixType& eigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the eigenvalues of given matrix.
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre The eigenvalues have been computed before.
+      *
+      * The eigenvalues are repeated according to their algebraic multiplicity,
+      * so there are as many eigenvalues as rows in the matrix. The eigenvalues
+      * are sorted in increasing order.
+      *
+      * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
+      *
+      * \sa eigenvectors(), MatrixBase::eigenvalues()
+      */
+    const RealVectorType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes the positive-definite square root of the matrix.
+      *
+      * \returns the positive-definite square root of the matrix
+      *
+      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+      * have been computed before.
+      *
+      * The square root of a positive-definite matrix \f$ A \f$ is the
+      * positive-definite matrix whose square equals \f$ A \f$. This function
+      * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
+      * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
+      *
+      * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
+      *
+      * \sa operatorInverseSqrt(),
+      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      */
+    MatrixType operatorSqrt() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+    }
+
+    /** \brief Computes the inverse square root of the matrix.
+      *
+      * \returns the inverse positive-definite square root of the matrix
+      *
+      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+      * have been computed before.
+      *
+      * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
+      * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
+      * cheaper than first computing the square root with operatorSqrt() and
+      * then its inverse with MatrixBase::inverse().
+      *
+      * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
+      *
+      * \sa operatorSqrt(), MatrixBase::inverse(),
+      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      */
+    MatrixType operatorInverseSqrt() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+    }
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge.
+      */
+    static const int m_maxIterations = 30;
+
+    #ifdef EIGEN2_SUPPORT
+    SelfAdjointEigenSolver(const MatrixType& matrix, bool computeEigenvectors)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
+        m_isInitialized(false)
+    {
+      compute(matrix, computeEigenvectors);
+    }
+    
+    SelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
+        : m_eivec(matA.cols(), matA.cols()),
+          m_eivalues(matA.cols()),
+          m_subdiag(matA.cols() > 1 ? matA.cols() - 1 : 1),
+          m_isInitialized(false)
+    {
+      static_cast<GeneralizedSelfAdjointEigenSolver<MatrixType>*>(this)->compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+    
+    void compute(const MatrixType& matrix, bool computeEigenvectors)
+    {
+      compute(matrix, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+
+    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
+    {
+      compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+    #endif // EIGEN2_SUPPORT
+
+  protected:
+    MatrixType m_eivec;
+    RealVectorType m_eivalues;
+    typename TridiagonalizationType::SubDiagonalType m_subdiag;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+};
+
+/** \internal
+  *
+  * \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  * Performs a QR step on a tridiagonal symmetric matrix represented as a
+  * pair of two vectors \a diag and \a subdiag.
+  *
+  * \param matA the input selfadjoint matrix
+  * \param hCoeffs returned Householder coefficients
+  *
+  * For compilation efficiency reasons, this procedure does not use eigen expression
+  * for its arguments.
+  *
+  * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
+  * "implicit symmetric QR step with Wilkinson shift"
+  */
+namespace internal {
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
+}
+
+template<typename MatrixType>
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::compute(const MatrixType& matrix, int options)
+{
+  eigen_assert(matrix.cols() == matrix.rows());
+  eigen_assert((options&~(EigVecMask|GenEigMask))==0
+          && (options&EigVecMask)!=EigVecMask
+          && "invalid option parameter");
+  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+  Index n = matrix.cols();
+  m_eivalues.resize(n,1);
+
+  if(n==1)
+  {
+    m_eivalues.coeffRef(0,0) = internal::real(matrix.coeff(0,0));
+    if(computeEigenvectors)
+      m_eivec.setOnes(n,n);
+    m_info = Success;
+    m_isInitialized = true;
+    m_eigenvectorsOk = computeEigenvectors;
+    return *this;
+  }
+
+  // declare some aliases
+  RealVectorType& diag = m_eivalues;
+  MatrixType& mat = m_eivec;
+
+  // map the matrix coefficients to [-1:1] to avoid over- and underflow.
+  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  if(scale==Scalar(0)) scale = 1;
+  mat = matrix / scale;
+  m_subdiag.resize(n-1);
+  internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+  
+  Index end = n-1;
+  Index start = 0;
+  Index iter = 0; // number of iterations we are working on one element
+
+  while (end>0)
+  {
+    for (Index i = start; i<end; ++i)
+      if (internal::isMuchSmallerThan(internal::abs(m_subdiag[i]),(internal::abs(diag[i])+internal::abs(diag[i+1]))))
+        m_subdiag[i] = 0;
+
+    // find the largest unreduced block
+    while (end>0 && m_subdiag[end-1]==0)
+    {
+      iter = 0;
+      end--;
+    }
+    if (end<=0)
+      break;
+
+    // if we spent too many iterations on the current element, we give up
+    iter++;
+    if(iter > m_maxIterations) break;
+
+    start = end - 1;
+    while (start>0 && m_subdiag[start-1]!=0)
+      start--;
+
+    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
+  }
+
+  if (iter <= m_maxIterations)
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  // Sort eigenvalues and corresponding vectors.
+  // TODO make the sort optional ?
+  // TODO use a better sort algorithm !!
+  if (m_info == Success)
+  {
+    for (Index i = 0; i < n-1; ++i)
+    {
+      Index k;
+      m_eivalues.segment(i,n-i).minCoeff(&k);
+      if (k > 0)
+      {
+        std::swap(m_eivalues[i], m_eivalues[k+i]);
+        if(computeEigenvectors)
+          m_eivec.col(i).swap(m_eivec.col(k+i));
+      }
+    }
+  }
+  
+  // scale back the eigen values
+  m_eivalues *= scale;
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+namespace internal {
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
+{
+  // NOTE this version avoids over & underflow, however since the matrix is prescaled, overflow cannot occur,
+  // and underflows should be meaningless anyway. So I don't any reason to enable this version, but I keep
+  // it here for reference:
+//   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
+//   RealScalar e = subdiag[end-1];
+//   RealScalar mu = diag[end] - (e / (td + (td>0 ? 1 : -1))) * (e / hypot(td,e));
+  RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
+  RealScalar e2 = abs2(subdiag[end-1]);
+  RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  RealScalar x = diag[start] - mu;
+  RealScalar z = subdiag[start];
+  for (Index k = start; k < end; ++k)
+  {
+    JacobiRotation<RealScalar> rot;
+    rot.makeGivens(x, z);
+
+    // do T = G' T G
+    RealScalar sdk = rot.s() * diag[k] + rot.c() * subdiag[k];
+    RealScalar dkp1 = rot.s() * subdiag[k] + rot.c() * diag[k+1];
+
+    diag[k] = rot.c() * (rot.c() * diag[k] - rot.s() * subdiag[k]) - rot.s() * (rot.c() * subdiag[k] - rot.s() * diag[k+1]);
+    diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
+    subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
+    
+
+    if (k > start)
+      subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
+
+    x = subdiag[k];
+
+    if (k < end - 1)
+    {
+      z = -rot.s() * subdiag[k+1];
+      subdiag[k + 1] = rot.c() * subdiag[k+1];
+    }
+    
+    // apply the givens rotation to the unit matrix Q = Q * G
+    if (matrixQ)
+    {
+      // FIXME if StorageOrder == RowMajor this operation is not very efficient
+      Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
+      q.applyOnTheRight(k,k+1,rot);
+    }
+  }
+}
+} // end namespace internal
+
+#endif // EIGEN_SELFADJOINTEIGENSOLVER_H
diff --git a/extern/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h b/extern/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
new file mode 100644
index 00000000000..ae4cdce7aeb
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -0,0 +1,568 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIDIAGONALIZATION_H
+#define EIGEN_TRIDIAGONALIZATION_H
+
+namespace internal {
+  
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
+template<typename MatrixType>
+struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class Tridiagonalization
+  *
+  * \brief Tridiagonal decomposition of a selfadjoint matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * tridiagonal decomposition; this is expected to be an instantiation of the
+  * Matrix class template.
+  *
+  * This class performs a tridiagonal decomposition of a selfadjoint matrix \f$ A \f$ such that:
+  * \f$ A = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real symmetric tridiagonal matrix.
+  *
+  * A tridiagonal matrix is a matrix which has nonzero elements only on the
+  * main diagonal and the first diagonal below and above it. The Hessenberg
+  * decomposition of a selfadjoint matrix is in fact a tridiagonal
+  * decomposition. This class is used in SelfAdjointEigenSolver to compute the
+  * eigenvalues and eigenvectors of a selfadjoint matrix.
+  *
+  * Call the function compute() to compute the tridiagonal decomposition of a
+  * given matrix. Alternatively, you can use the Tridiagonalization(const MatrixType&)
+  * constructor which computes the tridiagonal Schur decomposition at
+  * construction time. Once the decomposition is computed, you can use the
+  * matrixQ() and matrixT() functions to retrieve the matrices Q and T in the
+  * decomposition.
+  *
+  * The documentation of Tridiagonalization(const MatrixType&) contains an
+  * example of the typical use of this class.
+  *
+  * \sa class HessenbergDecomposition, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class Tridiagonalization
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      SizeMinusOne = Size == Dynamic ? Dynamic : (Size > 1 ? Size - 1 : 1),
+      Options = MatrixType::Options,
+      MaxSize = MatrixType::MaxRowsAtCompileTime,
+      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : (MaxSize > 1 ? MaxSize - 1 : 1)
+    };
+
+    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type DiagonalType;
+    typedef Matrix<RealScalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> SubDiagonalType;
+    typedef typename internal::remove_all<typename MatrixType::RealReturnType>::type MatrixTypeRealView;
+    typedef internal::TridiagonalizationMatrixTReturnType<MatrixTypeRealView> MatrixTReturnType;
+
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+              const typename Diagonal<const MatrixType>::RealReturnType,
+              const Diagonal<const MatrixType>
+            >::type DiagonalReturnType;
+
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+              const typename Diagonal<
+                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >::RealReturnType,
+              const Diagonal<
+                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >
+            >::type SubDiagonalReturnType;
+
+    /** \brief Return type of matrixQ() */
+    typedef typename HouseholderSequence<MatrixType,CoeffVectorType>::ConjugateReturnType HouseholderSequenceType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose tridiagonal
+      * decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
+      : m_matrix(size,size),
+        m_hCoeffs(size > 1 ? size-1 : 1),
+        m_isInitialized(false)
+    {}
+
+    /** \brief Constructor; computes tridiagonal decomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
+      * is to be computed.
+      *
+      * This constructor calls compute() to compute the tridiagonal decomposition.
+      *
+      * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
+      * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
+      */
+    Tridiagonalization(const MatrixType& matrix)
+      : m_matrix(matrix),
+        m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
+        m_isInitialized(false)
+    {
+      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+      m_isInitialized = true;
+    }
+
+    /** \brief Computes tridiagonal decomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
+      * is to be computed.
+      * \returns    Reference to \c *this
+      *
+      * The tridiagonal decomposition is computed by bringing the columns of
+      * the matrix successively in the required form using Householder
+      * reflections. The cost is \f$ 4n^3/3 \f$ flops, where \f$ n \f$ denotes
+      * the size of the given matrix.
+      *
+      * This method reuses of the allocated data in the Tridiagonalization
+      * object, if the size of the matrix does not change.
+      *
+      * Example: \include Tridiagonalization_compute.cpp
+      * Output: \verbinclude Tridiagonalization_compute.out
+      */
+    Tridiagonalization& compute(const MatrixType& matrix)
+    {
+      m_matrix = matrix;
+      m_hCoeffs.resize(matrix.rows()-1, 1);
+      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+      m_isInitialized = true;
+      return *this;
+    }
+
+    /** \brief Returns the Householder coefficients.
+      *
+      * \returns a const reference to the vector of Householder coefficients
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * The Householder coefficients allow the reconstruction of the matrix
+      * \f$ Q \f$ in the tridiagonal decomposition from the packed data.
+      *
+      * Example: \include Tridiagonalization_householderCoefficients.cpp
+      * Output: \verbinclude Tridiagonalization_householderCoefficients.out
+      *
+      * \sa packedMatrix(), \ref Householder_Module "Householder module"
+      */
+    inline CoeffVectorType householderCoefficients() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return m_hCoeffs;
+    }
+
+    /** \brief Returns the internal representation of the decomposition
+      *
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * The returned matrix contains the following information:
+      *  - the strict upper triangular part is equal to the input matrix A.
+      *  - the diagonal and lower sub-diagonal represent the real tridiagonal
+      *    symmetric matrix T.
+      *  - the rest of the lower part contains the Householder vectors that,
+      *    combined with Householder coefficients returned by
+      *    householderCoefficients(), allows to reconstruct the matrix Q as
+      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
+      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+      *    \f$ v_i \f$ is the Householder vector defined by
+      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+      *    with M the matrix returned by this function.
+      *
+      * See LAPACK for further details on this packed storage.
+      *
+      * Example: \include Tridiagonalization_packedMatrix.cpp
+      * Output: \verbinclude Tridiagonalization_packedMatrix.out
+      *
+      * \sa householderCoefficients()
+      */
+    inline const MatrixType& packedMatrix() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return m_matrix;
+    }
+
+    /** \brief Returns the unitary matrix Q in the decomposition
+      *
+      * \returns object representing the matrix Q
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * This function returns a light-weight object of template class
+      * HouseholderSequence. You can either apply it directly to a matrix or
+      * you can convert it to a matrix of type #MatrixType.
+      *
+      * \sa Tridiagonalization(const MatrixType&) for an example,
+      *     matrixT(), class HouseholderSequence
+      */
+    HouseholderSequenceType matrixQ() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+             .setLength(m_matrix.rows() - 1)
+             .setShift(1);
+    }
+
+    /** \brief Returns an expression of the tridiagonal matrix T in the decomposition
+      *
+      * \returns expression object representing the matrix T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * Currently, this function can be used to extract the matrix T from internal
+      * data and copy it to a dense matrix object. In most cases, it may be
+      * sufficient to directly use the packed matrix or the vector expressions
+      * returned by diagonal() and subDiagonal() instead of creating a new
+      * dense copy matrix with this function.
+      *
+      * \sa Tridiagonalization(const MatrixType&) for an example,
+      * matrixQ(), packedMatrix(), diagonal(), subDiagonal()
+      */
+    MatrixTReturnType matrixT() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return MatrixTReturnType(m_matrix.real());
+    }
+
+    /** \brief Returns the diagonal of the tridiagonal matrix T in the decomposition.
+      *
+      * \returns expression representing the diagonal of T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * Example: \include Tridiagonalization_diagonal.cpp
+      * Output: \verbinclude Tridiagonalization_diagonal.out
+      *
+      * \sa matrixT(), subDiagonal()
+      */
+    DiagonalReturnType diagonal() const;
+
+    /** \brief Returns the subdiagonal of the tridiagonal matrix T in the decomposition.
+      *
+      * \returns expression representing the subdiagonal of T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * \sa diagonal() for an example, matrixT()
+      */
+    SubDiagonalReturnType subDiagonal() const;
+
+  protected:
+
+    MatrixType m_matrix;
+    CoeffVectorType m_hCoeffs;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::DiagonalReturnType
+Tridiagonalization<MatrixType>::diagonal() const
+{
+  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+  return m_matrix.diagonal();
+}
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
+Tridiagonalization<MatrixType>::subDiagonal() const
+{
+  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+  Index n = m_matrix.rows();
+  return Block<const MatrixType,SizeMinusOne,SizeMinusOne>(m_matrix, 1, 0, n-1,n-1).diagonal();
+}
+
+namespace internal {
+
+/** \internal
+  * Performs a tridiagonal decomposition of the selfadjoint matrix \a matA in-place.
+  *
+  * \param[in,out] matA On input the selfadjoint matrix. Only the \b lower triangular part is referenced.
+  *                     On output, the strict upper part is left unchanged, and the lower triangular part
+  *                     represents the T and Q matrices in packed format has detailed below.
+  * \param[out]    hCoeffs returned Householder coefficients (see below)
+  *
+  * On output, the tridiagonal selfadjoint matrix T is stored in the diagonal
+  * and lower sub-diagonal of the matrix \a matA.
+  * The unitary matrix Q is represented in a compact way as a product of
+  * Householder reflectors \f$ H_i \f$ such that:
+  *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+  * The Householder reflectors are defined as
+  *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+  * where \f$ h_i = hCoeffs[i]\f$ is the \f$ i \f$th Householder coefficient and
+  * \f$ v_i \f$ is the Householder vector defined by
+  *       \f$ v_i = [ 0, \ldots, 0, 1, matA(i+2,i), \ldots, matA(N-1,i) ]^T \f$.
+  *
+  * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
+  *
+  * \sa Tridiagonalization::packedMatrix()
+  */
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  Index n = matA.rows();
+  eigen_assert(n==matA.cols());
+  eigen_assert(n==hCoeffs.size()+1 || n==1);
+  
+  for (Index i = 0; i<n-1; ++i)
+  {
+    Index remainingSize = n-i-1;
+    RealScalar beta;
+    Scalar h;
+    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+
+    // Apply similarity transformation to remaining columns,
+    // i.e., A = H A H' where H = I - h v v' and v = matA.col(i).tail(n-i-1)
+    matA.col(i).coeffRef(i+1) = 1;
+
+    hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
+                                  * (conj(h) * matA.col(i).tail(remainingSize)));
+
+    hCoeffs.tail(n-i-1) += (conj(h)*Scalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
+
+    matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
+      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), -1);
+
+    matA.col(i).coeffRef(i+1) = beta;
+    hCoeffs.coeffRef(i) = h;
+  }
+}
+
+// forward declaration, implementation at the end of this file
+template<typename MatrixType,
+         int Size=MatrixType::ColsAtCompileTime,
+         bool IsComplex=NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct tridiagonalization_inplace_selector;
+
+/** \brief Performs a full tridiagonalization in place
+  *
+  * \param[in,out]  mat  On input, the selfadjoint matrix whose tridiagonal
+  *    decomposition is to be computed. Only the lower triangular part referenced.
+  *    The rest is left unchanged. On output, the orthogonal matrix Q
+  *    in the decomposition if \p extractQ is true.
+  * \param[out]  diag  The diagonal of the tridiagonal matrix T in the
+  *    decomposition.
+  * \param[out]  subdiag  The subdiagonal of the tridiagonal matrix T in
+  *    the decomposition.
+  * \param[in]  extractQ  If true, the orthogonal matrix Q in the
+  *    decomposition is computed and stored in \p mat.
+  *
+  * Computes the tridiagonal decomposition of the selfadjoint matrix \p mat in place
+  * such that \f$ mat = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real
+  * symmetric tridiagonal matrix.
+  *
+  * The tridiagonal matrix T is passed to the output parameters \p diag and \p subdiag. If
+  * \p extractQ is true, then the orthogonal matrix Q is passed to \p mat. Otherwise the lower
+  * part of the matrix \p mat is destroyed.
+  *
+  * The vectors \p diag and \p subdiag are not resized. The function
+  * assumes that they are already of the correct size. The length of the
+  * vector \p diag should equal the number of rows in \p mat, and the
+  * length of the vector \p subdiag should be one left.
+  *
+  * This implementation contains an optimized path for 3-by-3 matrices
+  * which is especially useful for plane fitting.
+  *
+  * \note Currently, it requires two temporary vectors to hold the intermediate
+  * Householder coefficients, and to reconstruct the matrix Q from the Householder
+  * reflectors.
+  *
+  * Example (this uses the same matrix as the example in
+  *    Tridiagonalization::Tridiagonalization(const MatrixType&)):
+  *    \include Tridiagonalization_decomposeInPlace.cpp
+  * Output: \verbinclude Tridiagonalization_decomposeInPlace.out
+  *
+  * \sa class Tridiagonalization
+  */
+template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
+void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+{
+  typedef typename MatrixType::Index Index;
+  //Index n = mat.rows();
+  eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
+  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
+}
+
+/** \internal
+  * General full tridiagonalization
+  */
+template<typename MatrixType, int Size, bool IsComplex>
+struct tridiagonalization_inplace_selector
+{
+  typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
+  typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
+  typedef typename MatrixType::Index Index;
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  {
+    CoeffVectorType hCoeffs(mat.cols()-1);
+    tridiagonalization_inplace(mat,hCoeffs);
+    diag = mat.diagonal().real();
+    subdiag = mat.template diagonal<-1>().real();
+    if(extractQ)
+      mat = HouseholderSequenceType(mat, hCoeffs.conjugate())
+            .setLength(mat.rows() - 1)
+            .setShift(1);
+  }
+};
+
+/** \internal
+  * Specialization for 3x3 real matrices.
+  * Especially useful for plane fitting.
+  */
+template<typename MatrixType>
+struct tridiagonalization_inplace_selector<MatrixType,3,false>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  {
+    diag[0] = mat(0,0);
+    RealScalar v1norm2 = abs2(mat(2,0));
+    if(v1norm2 == RealScalar(0))
+    {
+      diag[1] = mat(1,1);
+      diag[2] = mat(2,2);
+      subdiag[0] = mat(1,0);
+      subdiag[1] = mat(2,1);
+      if (extractQ)
+        mat.setIdentity();
+    }
+    else
+    {
+      RealScalar beta = sqrt(abs2(mat(1,0)) + v1norm2);
+      RealScalar invBeta = RealScalar(1)/beta;
+      Scalar m01 = mat(1,0) * invBeta;
+      Scalar m02 = mat(2,0) * invBeta;
+      Scalar q = RealScalar(2)*m01*mat(2,1) + m02*(mat(2,2) - mat(1,1));
+      diag[1] = mat(1,1) + m02*q;
+      diag[2] = mat(2,2) - m02*q;
+      subdiag[0] = beta;
+      subdiag[1] = mat(2,1) - m01 * q;
+      if (extractQ)
+      {
+        mat << 1,   0,    0,
+               0, m01,  m02,
+               0, m02, -m01;
+      }
+    }
+  }
+};
+
+/** \internal
+  * Trivial specialization for 1x1 matrices
+  */
+template<typename MatrixType, bool IsComplex>
+struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
+{
+  typedef typename MatrixType::Scalar Scalar;
+
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, bool extractQ)
+  {
+    diag(0,0) = real(mat(0,0));
+    if(extractQ)
+      mat(0,0) = Scalar(1);
+  }
+};
+
+/** \internal
+  * \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  * \brief Expression type for return value of Tridiagonalization::matrixT()
+  *
+  * \tparam MatrixType type of underlying dense matrix
+  */
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
+: public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
+{
+    typedef typename MatrixType::Index Index;
+  public:
+    /** \brief Constructor.
+      *
+      * \param[in] mat The underlying dense matrix
+      */
+    TridiagonalizationMatrixTReturnType(const MatrixType& mat) : m_matrix(mat) { }
+
+    template <typename ResultType>
+    inline void evalTo(ResultType& result) const
+    {
+      result.setZero();
+      result.template diagonal<1>() = m_matrix.template diagonal<-1>().conjugate();
+      result.diagonal() = m_matrix.diagonal();
+      result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
+    }
+
+    Index rows() const { return m_matrix.rows(); }
+    Index cols() const { return m_matrix.cols(); }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIDIAGONALIZATION_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h b/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h
new file mode 100644
index 00000000000..b51deb3f3c3
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h
@@ -0,0 +1,352 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ALIGNEDBOX_H
+#define EIGEN_ALIGNEDBOX_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  *
+  * \class AlignedBox
+  *
+  * \brief An axis aligned box
+  *
+  * \param _Scalar the type of the scalar coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *
+  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
+  */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+{
+public:
+EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar                                   Scalar;
+  typedef NumTraits<Scalar>                         ScalarTraits;
+  typedef DenseIndex                                Index;
+  typedef typename ScalarTraits::Real               RealScalar;
+  typedef typename ScalarTraits::NonInteger      NonInteger;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
+
+  /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
+  enum CornerType
+  {
+    /** 1D names */
+    Min=0, Max=1,
+
+    /** Added names for 2D */
+    BottomLeft=0, BottomRight=1,
+    TopLeft=2, TopRight=3,
+
+    /** Added names for 3D */
+    BottomLeftFloor=0, BottomRightFloor=1,
+    TopLeftFloor=2, TopRightFloor=3,
+    BottomLeftCeil=4, BottomRightCeil=5,
+    TopLeftCeil=6, TopRightCeil=7
+  };
+
+
+  /** Default constructor initializing a null box. */
+  inline explicit AlignedBox()
+  { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
+
+  /** Constructs a null box with \a _dim the dimension of the ambient space. */
+  inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
+  { setEmpty(); }
+
+  /** Constructs a box with extremities \a _min and \a _max. */
+  template<typename OtherVectorType1, typename OtherVectorType2>
+  inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
+
+  /** Constructs a box containing a single point \a p. */
+  template<typename Derived>
+  inline explicit AlignedBox(const MatrixBase<Derived>& a_p)
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    m_min = p;
+    m_max = p;
+  }
+
+  ~AlignedBox() {}
+
+  /** \returns the dimension in which the box holds */
+  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : Index(AmbientDimAtCompileTime); }
+
+  /** \deprecated use isEmpty */
+  inline bool isNull() const { return isEmpty(); }
+
+  /** \deprecated use setEmpty */
+  inline void setNull() { setEmpty(); }
+
+  /** \returns true if the box is empty. */
+  inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
+
+  /** Makes \c *this an empty box. */
+  inline void setEmpty()
+  {
+    m_min.setConstant( ScalarTraits::highest() );
+    m_max.setConstant( ScalarTraits::lowest() );
+  }
+
+  /** \returns the minimal corner */
+  inline const VectorType& (min)() const { return m_min; }
+  /** \returns a non const reference to the minimal corner */
+  inline VectorType& (min)() { return m_min; }
+  /** \returns the maximal corner */
+  inline const VectorType& (max)() const { return m_max; }
+  /** \returns a non const reference to the maximal corner */
+  inline VectorType& (max)() { return m_max; }
+
+  /** \returns the center of the box */
+  inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
+                            const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
+  center() const
+  { return (m_min+m_max)/2; }
+
+  /** \returns the lengths of the sides of the bounding box.
+    * Note that this function does not get the same
+    * result for integral or floating scalar types: see
+    */
+  inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
+  { return m_max - m_min; }
+
+  /** \returns the volume of the bounding box */
+  inline Scalar volume() const
+  { return sizes().prod(); }
+
+  /** \returns an expression for the bounding box diagonal vector
+    * if the length of the diagonal is needed: diagonal().norm()
+    * will provide it.
+    */
+  inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
+  { return sizes(); }
+
+  /** \returns the vertex of the bounding box at the corner defined by
+    * the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
+    * For 1D bounding boxes corners are named by 2 enum constants:
+    * BottomLeft and BottomRight.
+    * For 2D bounding boxes, corners are named by 4 enum constants:
+    * BottomLeft, BottomRight, TopLeft, TopRight.
+    * For 3D bounding boxes, the following names are added:
+    * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
+    */
+  inline VectorType corner(CornerType corner) const
+  {
+    EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
+
+    VectorType res;
+
+    Index mult = 1;
+    for(Index d=0; d<dim(); ++d)
+    {
+      if( mult & corner ) res[d] = m_max[d];
+      else                res[d] = m_min[d];
+      mult *= 2;
+    }
+    return res;
+  }
+
+  /** \returns a random point inside the bounding box sampled with
+   * a uniform distribution */
+  inline VectorType sample() const
+  {
+    VectorType r;
+    for(Index d=0; d<dim(); ++d)
+    {
+      if(!ScalarTraits::IsInteger)
+      {
+        r[d] = m_min[d] + (m_max[d]-m_min[d])
+             * internal::random<Scalar>(Scalar(0), Scalar(1));
+      }
+      else
+        r[d] = internal::random(m_min[d], m_max[d]);
+    }
+    return r;
+  }
+
+  /** \returns true if the point \a p is inside the box \c *this. */
+  template<typename Derived>
+  inline bool contains(const MatrixBase<Derived>& a_p) const
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all();
+  }
+
+  /** \returns true if the box \a b is entirely inside the box \c *this. */
+  inline bool contains(const AlignedBox& b) const
+  { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
+
+  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
+  template<typename Derived>
+  inline AlignedBox& extend(const MatrixBase<Derived>& a_p)
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    m_min = m_min.cwiseMin(p);
+    m_max = m_max.cwiseMax(p);
+    return *this;
+  }
+
+  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& extend(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMin(b.m_min);
+    m_max = m_max.cwiseMax(b.m_max);
+    return *this;
+  }
+
+  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& clamp(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMax(b.m_min);
+    m_max = m_max.cwiseMin(b.m_max);
+    return *this;
+  }
+
+  /** Returns an AlignedBox that is the intersection of \a b and \c *this */
+  inline AlignedBox intersection(const AlignedBox& b) const
+  {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
+
+  /** Returns an AlignedBox that is the union of \a b and \c *this */
+  inline AlignedBox merged(const AlignedBox& b) const
+  { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
+
+  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+  template<typename Derived>
+  inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
+  {
+    const typename internal::nested<Derived,2>::type t(a_t.derived());
+    m_min += t;
+    m_max += t;
+    return *this;
+  }
+
+  /** \returns the squared distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa exteriorDistance()
+    */
+  template<typename Derived>
+  inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& a_p) const;
+
+  /** \returns the squared distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa exteriorDistance()
+    */
+  inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
+
+  /** \returns the distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa squaredExteriorDistance()
+    */
+  template<typename Derived>
+  inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
+  { return internal::sqrt(NonInteger(squaredExteriorDistance(p))); }
+
+  /** \returns the distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa squaredExteriorDistance()
+    */
+  inline NonInteger exteriorDistance(const AlignedBox& b) const
+  { return internal::sqrt(NonInteger(squaredExteriorDistance(b))); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AlignedBox,
+           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<AlignedBox,
+                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  {
+    m_min = (other.min)().template cast<Scalar>();
+    m_max = (other.max)().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AlignedBox& other, RealScalar prec = ScalarTraits::dummy_precision()) const
+  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
+
+protected:
+
+  VectorType m_min, m_max;
+};
+
+
+
+template<typename Scalar,int AmbientDim>
+template<typename Derived>
+inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
+{
+  const typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
+  Scalar dist2 = 0.;
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > p[k] )
+    {
+      aux = m_min[k] - p[k];
+      dist2 += aux*aux;
+    }
+    else if( p[k] > m_max[k] )
+    {
+      aux = p[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+template<typename Scalar,int AmbientDim>
+inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
+{
+  Scalar dist2 = 0.;
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > b.m_max[k] )
+    {
+      aux = m_min[k] - b.m_max[k];
+      dist2 += aux*aux;
+    }
+    else if( b.m_min[k] > m_max[k] )
+    {
+      aux = b.m_min[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+#endif // EIGEN_ALIGNEDBOX_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h b/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h
new file mode 100644
index 00000000000..0ec4624cf98
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h
@@ -0,0 +1,241 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ANGLEAXIS_H
+#define EIGEN_ANGLEAXIS_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class AngleAxis
+  *
+  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  *
+  * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c AngleAxisf for \c float
+  * \li \c AngleAxisd for \c double
+  *
+  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
+  * mimic Euler-angles. Here is an example:
+  * \include AngleAxis_mimic_euler.cpp
+  * Output: \verbinclude AngleAxis_mimic_euler.out
+  *
+  * \note This class is not aimed to be used to store a rotation transformation,
+  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
+  * and transformation objects.
+  *
+  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
+  */
+
+namespace internal {
+template<typename _Scalar> struct traits<AngleAxis<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+}
+
+template<typename _Scalar>
+class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
+{
+  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 3 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Quaternion<Scalar> QuaternionType;
+
+protected:
+
+  Vector3 m_axis;
+  Scalar m_angle;
+
+public:
+
+  /** Default constructor without initialization. */
+  AngleAxis() {}
+  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
+    * and an \a axis which \b must \b be \b normalized.
+    *
+    * \warning If the \a axis vector is not normalized, then the angle-axis object
+    *          represents an invalid rotation. */
+  template<typename Derived>
+  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
+  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
+  template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
+  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
+  template<typename Derived>
+  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
+
+  Scalar angle() const { return m_angle; }
+  Scalar& angle() { return m_angle; }
+
+  const Vector3& axis() const { return m_axis; }
+  Vector3& axis() { return m_axis; }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const AngleAxis& other) const
+  { return QuaternionType(*this) * QuaternionType(other); }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const QuaternionType& other) const
+  { return QuaternionType(*this) * other; }
+
+  /** Concatenates two rotations */
+  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
+  { return a * QuaternionType(b); }
+
+  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
+  AngleAxis inverse() const
+  { return AngleAxis(-m_angle, m_axis); }
+
+  template<class QuatDerived>
+  AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
+  template<typename Derived>
+  AngleAxis& operator=(const MatrixBase<Derived>& m);
+
+  template<typename Derived>
+  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix3 toRotationMatrix(void) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
+  {
+    m_axis = other.axis().template cast<Scalar>();
+    m_angle = Scalar(other.angle());
+  }
+
+  inline static const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision angle-axis type */
+typedef AngleAxis<float> AngleAxisf;
+/** \ingroup Geometry_Module
+  * double precision angle-axis type */
+typedef AngleAxis<double> AngleAxisd;
+
+/** Set \c *this from a \b unit quaternion.
+  * The axis is normalized.
+  * 
+  * \warning As any other method dealing with quaternion, if the input quaternion
+  *          is not normalized then the result is undefined.
+  */
+template<typename Scalar>
+template<typename QuatDerived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
+{
+  using std::acos;
+  using std::min;
+  using std::max;
+  Scalar n2 = q.vec().squaredNorm();
+  if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
+  {
+    m_angle = 0;
+    m_axis << 1, 0, 0;
+  }
+  else
+  {
+    m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1)));
+    m_axis = q.vec() / internal::sqrt(n2);
+  }
+  return *this;
+}
+
+/** Set \c *this from a 3x3 rotation matrix \a mat.
+  */
+template<typename Scalar>
+template<typename Derived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
+{
+  // Since a direct conversion would not be really faster,
+  // let's use the robust Quaternion implementation:
+  return *this = QuaternionType(mat);
+}
+
+/**
+* \brief Sets \c *this from a 3x3 rotation matrix.
+**/
+template<typename Scalar>
+template<typename Derived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+{
+  return *this = QuaternionType(mat);
+}
+
+/** Constructs and \returns an equivalent 3x3 rotation matrix.
+  */
+template<typename Scalar>
+typename AngleAxis<Scalar>::Matrix3
+AngleAxis<Scalar>::toRotationMatrix(void) const
+{
+  Matrix3 res;
+  Vector3 sin_axis  = internal::sin(m_angle) * m_axis;
+  Scalar c = internal::cos(m_angle);
+  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
+
+  Scalar tmp;
+  tmp = cos1_axis.x() * m_axis.y();
+  res.coeffRef(0,1) = tmp - sin_axis.z();
+  res.coeffRef(1,0) = tmp + sin_axis.z();
+
+  tmp = cos1_axis.x() * m_axis.z();
+  res.coeffRef(0,2) = tmp + sin_axis.y();
+  res.coeffRef(2,0) = tmp - sin_axis.y();
+
+  tmp = cos1_axis.y() * m_axis.z();
+  res.coeffRef(1,2) = tmp - sin_axis.x();
+  res.coeffRef(2,1) = tmp + sin_axis.x();
+
+  res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
+
+  return res;
+}
+
+#endif // EIGEN_ANGLEAXIS_H
diff --git a/extern/Eigen2/Eigen/src/Geometry/EulerAngles.h b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h
index 204118ac94d..d246a6ebf4a 100644
--- a/extern/Eigen2/Eigen/src/Geometry/EulerAngles.h
+++ b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -26,7 +26,7 @@
 #define EIGEN_EULERANGLES_H
 
 /** \geometry_module \ingroup Geometry_Module
-  * \nonstableyet
+  *
   *
   * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)
   *
@@ -43,48 +43,48 @@
   */
 template<typename Derived>
 inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
-MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
+MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
 {
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
 
   Matrix<Scalar,3,1> res;
   typedef Matrix<typename Derived::Scalar,2,1> Vector2;
-  const Scalar epsilon = precision<Scalar>();
+  const Scalar epsilon = NumTraits<Scalar>::dummy_precision();
 
-  const int odd = ((a0+1)%3 == a1) ? 0 : 1;
-  const int i = a0;
-  const int j = (a0 + 1 + odd)%3;
-  const int k = (a0 + 2 - odd)%3;
+  const Index odd = ((a0+1)%3 == a1) ? 0 : 1;
+  const Index i = a0;
+  const Index j = (a0 + 1 + odd)%3;
+  const Index k = (a0 + 2 - odd)%3;
 
   if (a0==a2)
   {
     Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
-    res[1] = ei_atan2(s, coeff(i,i));
+    res[1] = internal::atan2(s, coeff(i,i));
     if (s > epsilon)
     {
-      res[0] = ei_atan2(coeff(j,i), coeff(k,i));
-      res[2] = ei_atan2(coeff(i,j),-coeff(i,k));
+      res[0] = internal::atan2(coeff(j,i), coeff(k,i));
+      res[2] = internal::atan2(coeff(i,j),-coeff(i,k));
     }
     else
     {
       res[0] = Scalar(0);
-      res[2] = (coeff(i,i)>0?1:-1)*ei_atan2(-coeff(k,j), coeff(j,j));
+      res[2] = (coeff(i,i)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
     }
   }
   else
   {
     Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
-    res[1] = ei_atan2(-coeff(i,k), c);
+    res[1] = internal::atan2(-coeff(i,k), c);
     if (c > epsilon)
     {
-      res[0] = ei_atan2(coeff(j,k), coeff(k,k));
-      res[2] = ei_atan2(coeff(i,j), coeff(i,i));
+      res[0] = internal::atan2(coeff(j,k), coeff(k,k));
+      res[2] = internal::atan2(coeff(i,j), coeff(i,i));
     }
     else
     {
       res[0] = Scalar(0);
-      res[2] = (coeff(i,k)>0?1:-1)*ei_atan2(-coeff(k,j), coeff(j,j));
+      res[2] = (coeff(i,k)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
     }
   }
   if (!odd)
diff --git a/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h b/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h
new file mode 100644
index 00000000000..2bc4f7e87e3
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h
@@ -0,0 +1,318 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOMOGENEOUS_H
+#define EIGEN_HOMOGENEOUS_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Homogeneous
+  *
+  * \brief Expression of one (or a set of) homogeneous vector(s)
+  *
+  * \param MatrixType the type of the object in which we are making homogeneous
+  *
+  * This class represents an expression of one (or a set of) homogeneous vector(s).
+  * It is the return type of MatrixBase::homogeneous() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa MatrixBase::homogeneous()
+  */
+
+namespace internal {
+
+template<typename MatrixType,int Direction>
+struct traits<Homogeneous<MatrixType,Direction> >
+ : traits<MatrixType>
+{
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
+                  int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
+    ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
+                  int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
+    RowsAtCompileTime = Direction==Vertical  ?  RowsPlusOne : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
+    Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
+          : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
+          : TmpFlags,
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+
+template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
+template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
+
+} // end namespace internal
+
+template<typename MatrixType,int _Direction> class Homogeneous
+  : public MatrixBase<Homogeneous<MatrixType,_Direction> >
+{
+  public:
+
+    enum { Direction = _Direction };
+
+    typedef MatrixBase<Homogeneous> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
+
+    inline Homogeneous(const MatrixType& matrix)
+      : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
+    inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      if(  (int(Direction)==Vertical   && row==m_matrix.rows())
+        || (int(Direction)==Horizontal && col==m_matrix.cols()))
+        return 1;
+      return m_matrix.coeff(row, col);
+    }
+
+    template<typename Rhs>
+    inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
+    operator* (const MatrixBase<Rhs>& rhs) const
+    {
+      eigen_assert(int(Direction)==Horizontal);
+      return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
+    }
+
+    template<typename Lhs> friend
+    inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
+    operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
+    {
+      eigen_assert(int(Direction)==Vertical);
+      return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
+    }
+
+    template<typename Scalar, int Dim, int Mode, int Options> friend
+    inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
+    operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
+    {
+      eigen_assert(int(Direction)==Vertical);
+      return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+/** \geometry_module
+  *
+  * \return an expression of the equivalent homogeneous vector
+  *
+  * \only_for_vectors
+  *
+  * Example: \include MatrixBase_homogeneous.cpp
+  * Output: \verbinclude MatrixBase_homogeneous.out
+  *
+  * \sa class Homogeneous
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::HomogeneousReturnType
+MatrixBase<Derived>::homogeneous() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return derived();
+}
+
+/** \geometry_module
+  *
+  * \returns a matrix expression of homogeneous column (or row) vectors
+  *
+  * Example: \include VectorwiseOp_homogeneous.cpp
+  * Output: \verbinclude VectorwiseOp_homogeneous.out
+  *
+  * \sa MatrixBase::homogeneous() */
+template<typename ExpressionType, int Direction>
+inline Homogeneous<ExpressionType,Direction>
+VectorwiseOp<ExpressionType,Direction>::homogeneous() const
+{
+  return _expression();
+}
+
+/** \geometry_module
+  *
+  * \returns an expression of the homogeneous normalized vector of \c *this
+  *
+  * Example: \include MatrixBase_hnormalized.cpp
+  * Output: \verbinclude MatrixBase_hnormalized.out
+  *
+  * \sa VectorwiseOp::hnormalized() */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::HNormalizedReturnType
+MatrixBase<Derived>::hnormalized() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return ConstStartMinusOne(derived(),0,0,
+    ColsAtCompileTime==1?size()-1:1,
+    ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
+}
+
+/** \geometry_module
+  *
+  * \returns an expression of the homogeneous normalized vector of \c *this
+  *
+  * Example: \include DirectionWise_hnormalized.cpp
+  * Output: \verbinclude DirectionWise_hnormalized.out
+  *
+  * \sa MatrixBase::hnormalized() */
+template<typename ExpressionType, int Direction>
+inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
+VectorwiseOp<ExpressionType,Direction>::hnormalized() const
+{
+  return HNormalized_Block(_expression(),0,0,
+      Direction==Vertical   ? _expression().rows()-1 : _expression().rows(),
+      Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
+      Replicate<HNormalized_Factors,
+                Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
+                Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
+        (HNormalized_Factors(_expression(),
+          Direction==Vertical    ? _expression().rows()-1:0,
+          Direction==Horizontal  ? _expression().cols()-1:0,
+          Direction==Vertical    ? 1 : _expression().rows(),
+          Direction==Horizontal  ? 1 : _expression().cols()),
+         Direction==Vertical   ? _expression().rows()-1 : 1,
+         Direction==Horizontal ? _expression().cols()-1 : 1));
+}
+
+namespace internal {
+
+template<typename MatrixOrTransformType>
+struct take_matrix_for_product
+{
+  typedef MatrixOrTransformType type;
+  static const type& run(const type &x) { return x; }
+};
+
+template<typename Scalar, int Dim, int Mode,int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
+{
+  typedef Transform<Scalar, Dim, Mode, Options> TransformType;
+  typedef typename TransformType::ConstAffinePart type;
+  static const type run (const TransformType& x) { return x.affine(); }
+};
+
+template<typename Scalar, int Dim, int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
+{
+  typedef Transform<Scalar, Dim, Projective, Options> TransformType;
+  typedef typename TransformType::MatrixType type;
+  static const type& run (const TransformType& x) { return x.matrix(); }
+};
+
+template<typename MatrixType,typename Lhs>
+struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+  typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
+  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+  typedef typename make_proper_matrix_type<
+                 typename traits<MatrixTypeCleaned>::Scalar,
+                 LhsMatrixTypeCleaned::RowsAtCompileTime,
+                 MatrixTypeCleaned::ColsAtCompileTime,
+                 MatrixTypeCleaned::PlainObject::Options,
+                 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
+                 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Lhs>
+struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
+  : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+  typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
+  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+  typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
+  typedef typename MatrixType::Index Index;
+  homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
+    : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
+      m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_lhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    // FIXME investigate how to allow lazy evaluation of this product when possible
+    dst = Block<const LhsMatrixTypeNested,
+              LhsMatrixTypeNested::RowsAtCompileTime,
+              LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
+            (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
+    dst += m_lhs.col(m_lhs.cols()-1).rowwise()
+            .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
+  }
+
+  const typename LhsMatrixTypeCleaned::Nested m_lhs;
+  const typename MatrixType::Nested m_rhs;
+};
+
+template<typename MatrixType,typename Rhs>
+struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+  typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
+                 MatrixType::RowsAtCompileTime,
+                 Rhs::ColsAtCompileTime,
+                 MatrixType::PlainObject::Options,
+                 MatrixType::MaxRowsAtCompileTime,
+                 Rhs::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Rhs>
+struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
+  : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
+  typedef typename MatrixType::Index Index;
+  homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
+    : m_lhs(lhs), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_lhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    // FIXME investigate how to allow lazy evaluation of this product when possible
+    dst = m_lhs * Block<const RhsNested,
+                        RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
+                        RhsNested::ColsAtCompileTime>
+            (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
+    dst += m_rhs.row(m_rhs.rows()-1).colwise()
+            .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
+  }
+
+  const typename MatrixType::Nested m_lhs;
+  const typename Rhs::Nested m_rhs;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_HOMOGENEOUS_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h b/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h
new file mode 100644
index 00000000000..eb0a5877168
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h
@@ -0,0 +1,280 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HYPERPLANE_H
+#define EIGEN_HYPERPLANE_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Hyperplane
+  *
+  * \brief A hyperplane
+  *
+  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
+  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
+  *
+  * This class represents an hyperplane as the zero set of the implicit equation
+  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
+  * and \f$ d \f$ is the distance (offset) to the origin.
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+class Hyperplane
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+  enum {
+    AmbientDimAtCompileTime = _AmbientDim,
+    Options = _Options
+  };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef DenseIndex Index;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+  typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
+                        ? Dynamic
+                        : Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
+  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
+  typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
+
+  /** Default constructor without initialization */
+  inline explicit Hyperplane() {}
+  
+  template<int OtherOptions>
+  Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+   : m_coeffs(other.coeffs())
+  {}
+
+  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
+    * of the ambient space */
+  inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
+
+  /** Construct a plane from its normal \a n and a point \a e onto the plane.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, const VectorType& e)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = -n.dot(e);
+  }
+
+  /** Constructs a plane from its normal \a n and distance to the origin \a d
+    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, Scalar d)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = d;
+  }
+
+  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
+    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
+  {
+    Hyperplane result(p0.size());
+    result.normal() = (p1 - p0).unitOrthogonal();
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
+    * is required to be exactly 3.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
+    Hyperplane result(p0.size());
+    result.normal() = (p2 - p0).cross(p1 - p0).normalized();
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
+    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
+    * so an arbitrary choice is made.
+    */
+  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
+  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
+  {
+    normal() = parametrized.direction().unitOrthogonal();
+    offset() = -parametrized.origin().dot(normal());
+  }
+
+  ~Hyperplane() {}
+
+  /** \returns the dimension in which the plane holds */
+  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
+
+  /** normalizes \c *this */
+  void normalize(void)
+  {
+    m_coeffs /= normal().norm();
+  }
+
+  /** \returns the signed distance between the plane \c *this and a point \a p.
+    * \sa absDistance()
+    */
+  inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
+
+  /** \returns the absolute distance between the plane \c *this and a point \a p.
+    * \sa signedDistance()
+    */
+  inline Scalar absDistance(const VectorType& p) const { return internal::abs(signedDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the plane \c *this.
+    */
+  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
+
+  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
+
+  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
+    * of the implicit equation */
+  inline Scalar& offset() { return m_coeffs(dim()); }
+
+  /** \returns a constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline Coefficients& coeffs() { return m_coeffs; }
+
+  /** \returns the intersection of *this with \a other.
+    *
+    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
+    *
+    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
+    */
+  VectorType intersection(const Hyperplane& other) const
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
+    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
+    // whether the two lines are approximately parallel.
+    if(internal::isMuchSmallerThan(det, Scalar(1)))
+    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
+        if(internal::abs(coeffs().coeff(1))>internal::abs(coeffs().coeff(0)))
+            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
+        else
+            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
+    }
+    else
+    {   // general case
+        Scalar invdet = Scalar(1) / det;
+        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
+                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
+    }
+  }
+
+  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
+    *
+    * \param mat the Dim x Dim transformation matrix
+    * \param traits specifies whether the matrix \a mat represents an #Isometry
+    *               or a more generic #Affine transformation. The default is #Affine.
+    */
+  template<typename XprType>
+  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  {
+    if (traits==Affine)
+      normal() = mat.inverse().transpose() * normal();
+    else if (traits==Isometry)
+      normal() = mat * normal();
+    else
+    {
+      eigen_assert("invalid traits value in Hyperplane::transform()");
+    }
+    return *this;
+  }
+
+  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
+    *
+    * \param t the transformation of dimension Dim
+    * \param traits specifies whether the transformation \a t represents an #Isometry
+    *               or a more generic #Affine transformation. The default is #Affine.
+    *               Other kind of transformations are not supported.
+    */
+  template<int TrOptions>
+  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+                                TransformTraits traits = Affine)
+  {
+    transform(t.linear(), traits);
+    offset() -= normal().dot(t.translation());
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Hyperplane,
+           Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
+  {
+    return typename internal::cast_return_type<Hyperplane,
+                    Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType,int OtherOptions>
+  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  template<int OtherOptions>
+  bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+protected:
+
+  Coefficients m_coeffs;
+};
+
+#endif // EIGEN_HYPERPLANE_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h b/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h
new file mode 100644
index 00000000000..52b46988196
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h
@@ -0,0 +1,229 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ORTHOMETHODS_H
+#define EIGEN_ORTHOMETHODS_H
+
+/** \geometry_module
+  *
+  * \returns the cross product of \c *this and \a other
+  *
+  * Here is a very good explanation of cross-product: http://xkcd.com/199/
+  * \sa MatrixBase::cross3()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+
+  // Note that there is no need for an expression here since the compiler
+  // optimize such a small temporary very well (even within a complex expression)
+  const typename internal::nested<Derived,2>::type lhs(derived());
+  const typename internal::nested<OtherDerived,2>::type rhs(other.derived());
+  return typename cross_product_return_type<OtherDerived>::type(
+    internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+    internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+    internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
+  );
+}
+
+namespace internal {
+
+template< int Arch,typename VectorLhs,typename VectorRhs,
+          typename Scalar = typename VectorLhs::Scalar,
+          bool Vectorizable = (VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit>
+struct cross3_impl {
+  inline static typename internal::plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    return typename internal::plain_matrix_type<VectorLhs>::type(
+      internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+      internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+      internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
+      0
+    );
+  }
+};
+
+}
+
+/** \geometry_module
+  *
+  * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
+  *
+  * The size of \c *this and \a other must be four. This function is especially useful
+  * when using 4D vectors instead of 3D ones to get advantage of SSE/AltiVec vectorization.
+  *
+  * \sa MatrixBase::cross()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
+
+  typedef typename internal::nested<Derived,2>::type DerivedNested;
+  typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
+  const DerivedNested lhs(derived());
+  const OtherDerivedNested rhs(other.derived());
+
+  return internal::cross3_impl<Architecture::Target,
+                        typename internal::remove_all<DerivedNested>::type,
+                        typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
+}
+
+/** \returns a matrix expression of the cross product of each column or row
+  * of the referenced expression with the \a other vector.
+  *
+  * The referenced matrix must have one dimension equal to 3.
+  * The result matrix has the same dimensions than the referenced one.
+  *
+  * \geometry_module
+  *
+  * \sa MatrixBase::cross() */
+template<typename ExpressionType, int Direction>
+template<typename OtherDerived>
+const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
+VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  CrossReturnType res(_expression().rows(),_expression().cols());
+  if(Direction==Vertical)
+  {
+    eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
+    res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
+    res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
+    res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
+  }
+  else
+  {
+    eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
+    res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
+    res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
+    res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
+  }
+  return res;
+}
+
+namespace internal {
+
+template<typename Derived, int Size = Derived::SizeAtCompileTime>
+struct unitOrthogonal_selector
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename Derived::Index Index;
+  typedef Matrix<Scalar,2,1> Vector2;
+  inline static VectorType run(const Derived& src)
+  {
+    VectorType perp = VectorType::Zero(src.size());
+    Index maxi = 0;
+    Index sndi = 0;
+    src.cwiseAbs().maxCoeff(&maxi);
+    if (maxi==0)
+      sndi = 1;
+    RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
+    perp.coeffRef(maxi) = -conj(src.coeff(sndi)) * invnm;
+    perp.coeffRef(sndi) =  conj(src.coeff(maxi)) * invnm;
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,3>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  inline static VectorType run(const Derived& src)
+  {
+    VectorType perp;
+    /* Let us compute the crossed product of *this with a vector
+     * that is not too close to being colinear to *this.
+     */
+
+    /* unless the x and y coords are both close to zero, we can
+     * simply take ( -y, x, 0 ) and normalize it.
+     */
+    if((!isMuchSmallerThan(src.x(), src.z()))
+    || (!isMuchSmallerThan(src.y(), src.z())))
+    {
+      RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
+      perp.coeffRef(0) = -conj(src.y())*invnm;
+      perp.coeffRef(1) = conj(src.x())*invnm;
+      perp.coeffRef(2) = 0;
+    }
+    /* if both x and y are close to zero, then the vector is close
+     * to the z-axis, so it's far from colinear to the x-axis for instance.
+     * So we take the crossed product with (1,0,0) and normalize it.
+     */
+    else
+    {
+      RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
+      perp.coeffRef(0) = 0;
+      perp.coeffRef(1) = -conj(src.z())*invnm;
+      perp.coeffRef(2) = conj(src.y())*invnm;
+    }
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,2>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  inline static VectorType run(const Derived& src)
+  { return VectorType(-conj(src.y()), conj(src.x())).normalized(); }
+};
+
+} // end namespace internal
+
+/** \returns a unit vector which is orthogonal to \c *this
+  *
+  * The size of \c *this must be at least 2. If the size is exactly 2,
+  * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
+  *
+  * \sa cross()
+  */
+template<typename Derived>
+typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::unitOrthogonal() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return internal::unitOrthogonal_selector<Derived>::run(derived());
+}
+
+#endif // EIGEN_ORTHOMETHODS_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h b/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h
new file mode 100644
index 00000000000..b90f9c088a2
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARAMETRIZEDLINE_H
+#define EIGEN_PARAMETRIZEDLINE_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class ParametrizedLine
+  *
+  * \brief A parametrized line
+  *
+  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
+  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
+  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+class ParametrizedLine
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum {
+    AmbientDimAtCompileTime = _AmbientDim,
+    Options = _Options
+  };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef DenseIndex Index;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
+
+  /** Default constructor without initialization */
+  inline explicit ParametrizedLine() {}
+  
+  template<int OtherOptions>
+  ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+   : m_origin(other.origin()), m_direction(other.direction())
+  {}
+
+  /** Constructs a dynamic-size line with \a _dim the dimension
+    * of the ambient space */
+  inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
+
+  /** Initializes a parametrized line of direction \a direction and origin \a origin.
+    * \warning the vector direction is assumed to be normalized.
+    */
+  ParametrizedLine(const VectorType& origin, const VectorType& direction)
+    : m_origin(origin), m_direction(direction) {}
+
+  template <int OtherOptions>
+  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+
+  /** Constructs a parametrized line going from \a p0 to \a p1. */
+  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+  { return ParametrizedLine(p0, (p1-p0).normalized()); }
+
+  ~ParametrizedLine() {}
+
+  /** \returns the dimension in which the line holds */
+  inline Index dim() const { return m_direction.size(); }
+
+  const VectorType& origin() const { return m_origin; }
+  VectorType& origin() { return m_origin; }
+
+  const VectorType& direction() const { return m_direction; }
+  VectorType& direction() { return m_direction; }
+
+  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
+    * \sa distance()
+    */
+  RealScalar squaredDistance(const VectorType& p) const
+  {
+    VectorType diff = p - origin();
+    return (diff - direction().dot(diff) * direction()).squaredNorm();
+  }
+  /** \returns the distance of a point \a p to its projection onto the line \c *this.
+    * \sa squaredDistance()
+    */
+  RealScalar distance(const VectorType& p) const { return internal::sqrt(squaredDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the line \c *this. */
+  VectorType projection(const VectorType& p) const
+  { return origin() + direction().dot(p-origin()) * direction(); }
+
+  template <int OtherOptions>
+  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<ParametrizedLine,
+           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
+  {
+    return typename internal::cast_return_type<ParametrizedLine,
+                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType,int OtherOptions>
+  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  {
+    m_origin = other.origin().template cast<Scalar>();
+    m_direction = other.direction().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
+
+protected:
+
+  VectorType m_origin, m_direction;
+};
+
+/** Constructs a parametrized line from a 2D hyperplane
+  *
+  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+template <int OtherOptions>
+inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+  direction() = hyperplane.normal().unitOrthogonal();
+  origin() = -hyperplane.normal()*hyperplane.offset();
+}
+
+/** \returns the parameter value of the intersection between \c *this and the given hyperplane
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+template <int OtherOptions>
+inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+{
+  return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
+          / hyperplane.normal().dot(direction());
+}
+
+#endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Quaternion.h b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h
new file mode 100644
index 00000000000..2662d60fed1
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h
@@ -0,0 +1,751 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_QUATERNION_H
+#define EIGEN_QUATERNION_H
+
+/***************************************************************************
+* Definition of QuaternionBase<Derived>
+* The implementation is at the end of the file
+***************************************************************************/
+
+namespace internal {
+template<typename Other,
+         int OtherRows=Other::RowsAtCompileTime,
+         int OtherCols=Other::ColsAtCompileTime>
+struct quaternionbase_assign_impl;
+}
+
+template<class Derived>
+class QuaternionBase : public RotationBase<Derived, 3>
+{
+  typedef RotationBase<Derived, 3> Base;
+public:
+  using Base::operator*;
+  using Base::derived;
+
+  typedef typename internal::traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename internal::traits<Derived>::Coefficients Coefficients;
+  enum {
+    Flags = Eigen::internal::traits<Derived>::Flags
+  };
+
+ // typedef typename Matrix<Scalar,4,1> Coefficients;
+  /** the type of a 3D vector */
+  typedef Matrix<Scalar,3,1> Vector3;
+  /** the equivalent rotation matrix type */
+  typedef Matrix<Scalar,3,3> Matrix3;
+  /** the equivalent angle-axis type */
+  typedef AngleAxis<Scalar> AngleAxisType;
+
+
+
+  /** \returns the \c x coefficient */
+  inline Scalar x() const { return this->derived().coeffs().coeff(0); }
+  /** \returns the \c y coefficient */
+  inline Scalar y() const { return this->derived().coeffs().coeff(1); }
+  /** \returns the \c z coefficient */
+  inline Scalar z() const { return this->derived().coeffs().coeff(2); }
+  /** \returns the \c w coefficient */
+  inline Scalar w() const { return this->derived().coeffs().coeff(3); }
+
+  /** \returns a reference to the \c x coefficient */
+  inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
+  /** \returns a reference to the \c y coefficient */
+  inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
+  /** \returns a reference to the \c z coefficient */
+  inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
+  /** \returns a reference to the \c w coefficient */
+  inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
+
+  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
+  inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
+
+  /** \returns a vector expression of the imaginary part (x,y,z) */
+  inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
+
+  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
+  inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+
+  /** \returns a vector expression of the coefficients (x,y,z,w) */
+  inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
+
+  EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
+  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
+
+// disabled this copy operator as it is giving very strange compilation errors when compiling
+// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
+// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
+// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
+//  Derived& operator=(const QuaternionBase& other)
+//  { return operator=<Derived>(other); }
+
+  Derived& operator=(const AngleAxisType& aa);
+  template<class OtherDerived> Derived& operator=(const MatrixBase<OtherDerived>& m);
+
+  /** \returns a quaternion representing an identity rotation
+    * \sa MatrixBase::Identity()
+    */
+  inline static Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); }
+
+  /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
+    */
+  inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; }
+
+  /** \returns the squared norm of the quaternion's coefficients
+    * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
+    */
+  inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
+
+  /** \returns the norm of the quaternion's coefficients
+    * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
+    */
+  inline Scalar norm() const { return coeffs().norm(); }
+
+  /** Normalizes the quaternion \c *this
+    * \sa normalized(), MatrixBase::normalize() */
+  inline void normalize() { coeffs().normalize(); }
+  /** \returns a normalized copy of \c *this
+    * \sa normalize(), MatrixBase::normalized() */
+  inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
+
+    /** \returns the dot product of \c *this and \a other
+    * Geometrically speaking, the dot product of two unit quaternions
+    * corresponds to the cosine of half the angle between the two rotations.
+    * \sa angularDistance()
+    */
+  template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+
+  template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+
+  /** \returns an equivalent 3x3 rotation matrix */
+  Matrix3 toRotationMatrix() const;
+
+  /** \returns the quaternion which transform \a a into \a b through a rotation */
+  template<typename Derived1, typename Derived2>
+  Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+
+  template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
+  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
+
+  /** \returns the quaternion describing the inverse rotation */
+  Quaternion<Scalar> inverse() const;
+
+  /** \returns the conjugated quaternion */
+  Quaternion<Scalar> conjugate() const;
+
+  /** \returns an interpolation for a constant motion between \a other and \c *this
+    * \a t in [0;1]
+    * see http://en.wikipedia.org/wiki/Slerp
+    */
+  template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const;
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  template<class OtherDerived>
+  bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
+  { return coeffs().isApprox(other.coeffs(), prec); }
+
+	/** return the result vector of \a v through the rotation*/
+  EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  {
+    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(
+      coeffs().template cast<NewScalarType>());
+  }
+  
+#ifdef EIGEN_QUATERNIONBASE_PLUGIN
+# include EIGEN_QUATERNIONBASE_PLUGIN
+#endif
+};
+
+/***************************************************************************
+* Definition/implementation of Quaternion<Scalar>
+***************************************************************************/
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Quaternion
+  *
+  * \brief The quaternion class used to represent 3D orientations and rotations
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
+  * orientations and rotations of objects in three dimensions. Compared to other representations
+  * like Euler angles or 3x3 matrices, quatertions offer the following advantages:
+  * \li \b compact storage (4 scalars)
+  * \li \b efficient to compose (28 flops),
+  * \li \b stable spherical interpolation
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c Quaternionf for \c float
+  * \li \c Quaterniond for \c double
+  *
+  * \sa  class AngleAxis, class Transform
+  */
+
+namespace internal {
+template<typename _Scalar,int _Options>
+struct traits<Quaternion<_Scalar,_Options> >
+{
+  typedef Quaternion<_Scalar,_Options> PlainObject;
+  typedef _Scalar Scalar;
+  typedef Matrix<_Scalar,4,1,_Options> Coefficients;
+  enum{
+    IsAligned = bool(EIGEN_ALIGN) && ((int(_Options)&Aligned)==Aligned),
+    Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
+  };
+};
+}
+
+template<typename _Scalar, int _Options>
+class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >{
+  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
+public:
+  typedef _Scalar Scalar;
+
+  EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion)
+  using Base::operator*=;
+
+  typedef typename internal::traits<Quaternion<Scalar,_Options> >::Coefficients Coefficients;
+  typedef typename Base::AngleAxisType AngleAxisType;
+
+  /** Default constructor leaving the quaternion uninitialized. */
+  inline Quaternion() {}
+
+  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
+    * its four coefficients \a w, \a x, \a y and \a z.
+    *
+    * \warning Note the order of the arguments: the real \a w coefficient first,
+    * while internally the coefficients are stored in the following order:
+    * [\c x, \c y, \c z, \c w]
+    */
+  inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) : m_coeffs(x, y, z, w){}
+
+  /** Constructs and initialize a quaternion from the array data */
+  inline Quaternion(const Scalar* data) : m_coeffs(data) {}
+
+  /** Copy constructor */
+  template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
+
+  /** Constructs and initializes a quaternion from the angle-axis \a aa */
+  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+
+  /** Constructs and initializes a quaternion from either:
+    *  - a rotation matrix expression,
+    *  - a 4D vector expression representing quaternion coefficients.
+    */
+  template<typename Derived>
+  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+
+  inline Coefficients& coeffs() { return m_coeffs;}
+  inline const Coefficients& coeffs() const { return m_coeffs;}
+
+protected:
+  Coefficients m_coeffs;
+  
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void _check_template_params()
+    {
+      EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
+        INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+#endif
+};
+
+/** \ingroup Geometry_Module
+  * single precision quaternion type */
+typedef Quaternion<float> Quaternionf;
+/** \ingroup Geometry_Module
+  * double precision quaternion type */
+typedef Quaternion<double> Quaterniond;
+
+/***************************************************************************
+* Specialization of Map<Quaternion<Scalar>>
+***************************************************************************/
+
+namespace internal {
+  template<typename _Scalar, int _Options>
+  struct traits<Map<Quaternion<_Scalar>, _Options> >:
+  traits<Quaternion<_Scalar, _Options> >
+  {
+    typedef _Scalar Scalar;
+    typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
+
+    typedef traits<Quaternion<_Scalar, _Options> > TraitsBase;
+    enum {
+      IsAligned = TraitsBase::IsAligned,
+
+      Flags = TraitsBase::Flags
+    };
+  };
+}
+
+namespace internal {
+  template<typename _Scalar, int _Options>
+  struct traits<Map<const Quaternion<_Scalar>, _Options> >:
+  traits<Quaternion<_Scalar> >
+  {
+    typedef _Scalar Scalar;
+    typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
+
+    typedef traits<Quaternion<_Scalar, _Options> > TraitsBase;
+    enum {
+      IsAligned = TraitsBase::IsAligned,
+      Flags = TraitsBase::Flags & ~LvalueBit
+    };
+  };
+}
+
+/** \brief Quaternion expression mapping a constant memory buffer
+  *
+  * \param _Scalar the type of the Quaternion coefficients
+  * \param _Options see class Map
+  *
+  * This is a specialization of class Map for Quaternion. This class allows to view
+  * a 4 scalar memory buffer as an Eigen's Quaternion object.
+  *
+  * \sa class Map, class Quaternion, class QuaternionBase
+  */
+template<typename _Scalar, int _Options>
+class Map<const Quaternion<_Scalar>, _Options >
+  : public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
+{
+    typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
+
+  public:
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<Map>::Coefficients Coefficients;
+    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
+    using Base::operator*=;
+
+    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+      *
+      * The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order:
+      * \code *coeffs == {x, y, z, w} \endcode
+      *
+      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
+    EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
+
+    inline const Coefficients& coeffs() const { return m_coeffs;}
+
+  protected:
+    const Coefficients m_coeffs;
+};
+
+/** \brief Expression of a quaternion from a memory buffer
+  *
+  * \param _Scalar the type of the Quaternion coefficients
+  * \param _Options see class Map
+  *
+  * This is a specialization of class Map for Quaternion. This class allows to view
+  * a 4 scalar memory buffer as an Eigen's  Quaternion object.
+  *
+  * \sa class Map, class Quaternion, class QuaternionBase
+  */
+template<typename _Scalar, int _Options>
+class Map<Quaternion<_Scalar>, _Options >
+  : public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
+{
+    typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
+
+  public:
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<Map>::Coefficients Coefficients;
+    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
+    using Base::operator*=;
+
+    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+      *
+      * The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order:
+      * \code *coeffs == {x, y, z, w} \endcode
+      *
+      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
+    EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
+
+    inline Coefficients& coeffs() { return m_coeffs; }
+    inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  protected:
+    Coefficients m_coeffs;
+};
+
+/** \ingroup Geometry_Module
+  * Map an unaligned array of single precision scalar as a quaternion */
+typedef Map<Quaternion<float>, 0>         QuaternionMapf;
+/** \ingroup Geometry_Module
+  * Map an unaligned array of double precision scalar as a quaternion */
+typedef Map<Quaternion<double>, 0>        QuaternionMapd;
+/** \ingroup Geometry_Module
+  * Map a 16-bits aligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<float>, Aligned>   QuaternionMapAlignedf;
+/** \ingroup Geometry_Module
+  * Map a 16-bits aligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
+
+/***************************************************************************
+* Implementation of QuaternionBase methods
+***************************************************************************/
+
+// Generic Quaternion * Quaternion product
+// This product can be specialized for a given architecture via the Arch template argument.
+namespace internal {
+template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
+{
+  EIGEN_STRONG_INLINE static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
+    return Quaternion<Scalar>
+    (
+      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+      a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
+      a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
+    );
+  }
+};
+}
+
+/** \returns the concatenation of two rotations as a quaternion-quaternion product */
+template <class Derived>
+template <class OtherDerived>
+EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  return internal::quat_product<Architecture::Target, Derived, OtherDerived,
+                         typename internal::traits<Derived>::Scalar,
+                         internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned>::run(*this, other);
+}
+
+/** \sa operator*(Quaternion) */
+template <class Derived>
+template <class OtherDerived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
+{
+  derived() = derived() * other.derived();
+  return derived();
+}
+
+/** Rotation of a vector by a quaternion.
+  * \remarks If the quaternion is used to rotate several points (>1)
+  * then it is much more efficient to first convert it to a 3x3 Matrix.
+  * Comparison of the operation cost for n transformations:
+  *   - Quaternion2:    30n
+  *   - Via a Matrix3: 24 + 15n
+  */
+template <class Derived>
+EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
+QuaternionBase<Derived>::_transformVector(Vector3 v) const
+{
+    // Note that this algorithm comes from the optimization by hand
+    // of the conversion to a Matrix followed by a Matrix/Vector product.
+    // It appears to be much faster than the common algorithm found
+    // in the litterature (30 versus 39 flops). It also requires two
+    // Vector3 as temporaries.
+    Vector3 uv = this->vec().cross(v);
+    uv += uv;
+    return v + this->w() * uv + this->vec().cross(uv);
+}
+
+template<class Derived>
+EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
+{
+  coeffs() = other.coeffs();
+  return derived();
+}
+
+template<class Derived>
+template<class OtherDerived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
+{
+  coeffs() = other.coeffs();
+  return derived();
+}
+
+/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
+  */
+template<class Derived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
+{
+  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
+  this->w() = internal::cos(ha);
+  this->vec() = internal::sin(ha) * aa.axis();
+  return derived();
+}
+
+/** Set \c *this from the expression \a xpr:
+  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
+  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
+  *     and \a xpr is converted to a quaternion
+  */
+
+template<class Derived>
+template<class MatrixDerived>
+inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
+  return derived();
+}
+
+/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
+  * be normalized, otherwise the result is undefined.
+  */
+template<class Derived>
+inline typename QuaternionBase<Derived>::Matrix3
+QuaternionBase<Derived>::toRotationMatrix(void) const
+{
+  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
+  // if not inlined then the cost of the return by value is huge ~ +35%,
+  // however, not inlining this function is an order of magnitude slower, so
+  // it has to be inlined, and so the return by value is not an issue
+  Matrix3 res;
+
+  const Scalar tx  = 2*this->x();
+  const Scalar ty  = 2*this->y();
+  const Scalar tz  = 2*this->z();
+  const Scalar twx = tx*this->w();
+  const Scalar twy = ty*this->w();
+  const Scalar twz = tz*this->w();
+  const Scalar txx = tx*this->x();
+  const Scalar txy = ty*this->x();
+  const Scalar txz = tz*this->x();
+  const Scalar tyy = ty*this->y();
+  const Scalar tyz = tz*this->y();
+  const Scalar tzz = tz*this->z();
+
+  res.coeffRef(0,0) = 1-(tyy+tzz);
+  res.coeffRef(0,1) = txy-twz;
+  res.coeffRef(0,2) = txz+twy;
+  res.coeffRef(1,0) = txy+twz;
+  res.coeffRef(1,1) = 1-(txx+tzz);
+  res.coeffRef(1,2) = tyz-twx;
+  res.coeffRef(2,0) = txz-twy;
+  res.coeffRef(2,1) = tyz+twx;
+  res.coeffRef(2,2) = 1-(txx+tyy);
+
+  return res;
+}
+
+/** Sets \c *this to be a quaternion representing a rotation between
+  * the two arbitrary vectors \a a and \a b. In other words, the built
+  * rotation represent a rotation sending the line of direction \a a
+  * to the line of direction \a b, both lines passing through the origin.
+  *
+  * \returns a reference to \c *this.
+  *
+  * Note that the two input vectors do \b not have to be normalized, and
+  * do not need to have the same norm.
+  */
+template<class Derived>
+template<typename Derived1, typename Derived2>
+inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+{
+  using std::max;
+  Vector3 v0 = a.normalized();
+  Vector3 v1 = b.normalized();
+  Scalar c = v1.dot(v0);
+
+  // if dot == -1, vectors are nearly opposites
+  // => accuraletly compute the rotation axis by computing the
+  //    intersection of the two planes. This is done by solving:
+  //       x^T v0 = 0
+  //       x^T v1 = 0
+  //    under the constraint:
+  //       ||x|| = 1
+  //    which yields a singular value problem
+  if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
+  {
+    c = max<Scalar>(c,-1);
+    Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
+    JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
+    Vector3 axis = svd.matrixV().col(2);
+
+    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
+    this->w() = internal::sqrt(w2);
+    this->vec() = axis * internal::sqrt(Scalar(1) - w2);
+    return derived();
+  }
+  Vector3 axis = v0.cross(v1);
+  Scalar s = internal::sqrt((Scalar(1)+c)*Scalar(2));
+  Scalar invs = Scalar(1)/s;
+  this->vec() = axis * invs;
+  this->w() = s * Scalar(0.5);
+
+  return derived();
+}
+
+/** \returns the multiplicative inverse of \c *this
+  * Note that in most cases, i.e., if you simply want the opposite rotation,
+  * and/or the quaternion is normalized, then it is enough to use the conjugate.
+  *
+  * \sa QuaternionBase::conjugate()
+  */
+template <class Derived>
+inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
+{
+  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
+  Scalar n2 = this->squaredNorm();
+  if (n2 > 0)
+    return Quaternion<Scalar>(conjugate().coeffs() / n2);
+  else
+  {
+    // return an invalid result to flag the error
+    return Quaternion<Scalar>(Coefficients::Zero());
+  }
+}
+
+/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
+  * if the quaternion is normalized.
+  * The conjugate of a quaternion represents the opposite rotation.
+  *
+  * \sa Quaternion2::inverse()
+  */
+template <class Derived>
+inline Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::conjugate() const
+{
+  return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
+}
+
+/** \returns the angle (in radian) between two rotations
+  * \sa dot()
+  */
+template <class Derived>
+template <class OtherDerived>
+inline typename internal::traits<Derived>::Scalar
+QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
+{
+  using std::acos;
+  double d = internal::abs(this->dot(other));
+  if (d>=1.0)
+    return Scalar(0);
+  return static_cast<Scalar>(2 * acos(d));
+}
+
+/** \returns the spherical linear interpolation between the two quaternions
+  * \c *this and \a other at the parameter \a t
+  */
+template <class Derived>
+template <class OtherDerived>
+Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
+{
+  using std::acos;
+  static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
+  Scalar d = this->dot(other);
+  Scalar absD = internal::abs(d);
+
+  Scalar scale0;
+  Scalar scale1;
+
+  if (absD>=one)
+  {
+    scale0 = Scalar(1) - t;
+    scale1 = t;
+  }
+  else
+  {
+    // theta is the angle between the 2 quaternions
+    Scalar theta = acos(absD);
+    Scalar sinTheta = internal::sin(theta);
+
+    scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
+    scale1 = internal::sin( ( t * theta) ) / sinTheta;
+    if (d<0)
+      scale1 = -scale1;
+  }
+
+  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
+}
+
+namespace internal {
+
+// set from a rotation matrix
+template<typename Other>
+struct quaternionbase_assign_impl<Other,3,3>
+{
+  typedef typename Other::Scalar Scalar;
+  typedef DenseIndex Index;
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& mat)
+  {
+    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
+    // Ken Shoemake, 1987 SIGGRAPH course notes
+    Scalar t = mat.trace();
+    if (t > Scalar(0))
+    {
+      t = sqrt(t + Scalar(1.0));
+      q.w() = Scalar(0.5)*t;
+      t = Scalar(0.5)/t;
+      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
+      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
+      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
+    }
+    else
+    {
+      DenseIndex i = 0;
+      if (mat.coeff(1,1) > mat.coeff(0,0))
+        i = 1;
+      if (mat.coeff(2,2) > mat.coeff(i,i))
+        i = 2;
+      DenseIndex j = (i+1)%3;
+      DenseIndex k = (j+1)%3;
+
+      t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
+      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
+      t = Scalar(0.5)/t;
+      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
+      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
+      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
+    }
+  }
+};
+
+// set from a vector of coefficients assumed to be a quaternion
+template<typename Other>
+struct quaternionbase_assign_impl<Other,4,1>
+{
+  typedef typename Other::Scalar Scalar;
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec)
+  {
+    q.coeffs() = vec;
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_QUATERNION_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h
new file mode 100644
index 00000000000..e1214bd3ebb
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h
@@ -0,0 +1,165 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ROTATION2D_H
+#define EIGEN_ROTATION2D_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Rotation2D
+  *
+  * \brief Represents a rotation/orientation in a 2 dimensional space.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class is equivalent to a single scalar representing a counter clock wise rotation
+  * as a single angle in radian. It provides some additional features such as the automatic
+  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
+  * interface to Quaternion in order to facilitate the writing of generic algorithms
+  * dealing with rotations.
+  *
+  * \sa class Quaternion, class Transform
+  */
+
+namespace internal {
+
+template<typename _Scalar> struct traits<Rotation2D<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+} // end namespace internal
+
+template<typename _Scalar>
+class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
+{
+  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 2 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,2,1> Vector2;
+  typedef Matrix<Scalar,2,2> Matrix2;
+
+protected:
+
+  Scalar m_angle;
+
+public:
+
+  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
+  inline Rotation2D(Scalar a) : m_angle(a) {}
+
+  /** \returns the rotation angle */
+  inline Scalar angle() const { return m_angle; }
+
+  /** \returns a read-write reference to the rotation angle */
+  inline Scalar& angle() { return m_angle; }
+
+  /** \returns the inverse rotation */
+  inline Rotation2D inverse() const { return -m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D operator*(const Rotation2D& other) const
+  { return m_angle + other.m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D& operator*=(const Rotation2D& other)
+  { return m_angle += other.m_angle; return *this; }
+
+  /** Applies the rotation to a 2D vector */
+  Vector2 operator* (const Vector2& vec) const
+  { return toRotationMatrix() * vec; }
+
+  template<typename Derived>
+  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix2 toRotationMatrix(void) const;
+
+  /** \returns the spherical interpolation between \c *this and \a other using
+    * parameter \a t. It is in fact equivalent to a linear interpolation.
+    */
+  inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
+  { return m_angle * (1-t) + other.angle() * t; }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
+  {
+    m_angle = Scalar(other.angle());
+  }
+
+  inline static Rotation2D Identity() { return Rotation2D(0); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return internal::isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision 2D rotation type */
+typedef Rotation2D<float> Rotation2Df;
+/** \ingroup Geometry_Module
+  * double precision 2D rotation type */
+typedef Rotation2D<double> Rotation2Dd;
+
+/** Set \c *this from a 2x2 rotation matrix \a mat.
+  * In other words, this function extract the rotation angle
+  * from the rotation matrix.
+  */
+template<typename Scalar>
+template<typename Derived>
+Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+{
+  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_angle = internal::atan2(mat.coeff(1,0), mat.coeff(0,0));
+  return *this;
+}
+
+/** Constructs and \returns an equivalent 2x2 rotation matrix.
+  */
+template<typename Scalar>
+typename Rotation2D<Scalar>::Matrix2
+Rotation2D<Scalar>::toRotationMatrix(void) const
+{
+  Scalar sinA = internal::sin(m_angle);
+  Scalar cosA = internal::cos(m_angle);
+  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
+}
+
+#endif // EIGEN_ROTATION2D_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/RotationBase.h b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h
new file mode 100644
index 00000000000..1abf06bb640
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h
@@ -0,0 +1,217 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ROTATIONBASE_H
+#define EIGEN_ROTATIONBASE_H
+
+// forward declaration
+namespace internal {
+template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
+struct rotation_base_generic_product_selector;
+}
+
+/** \class RotationBase
+  *
+  * \brief Common base class for compact rotation representations
+  *
+  * \param Derived is the derived type, i.e., a rotation type
+  * \param _Dim the dimension of the space
+  */
+template<typename Derived, int _Dim>
+class RotationBase
+{
+  public:
+    enum { Dim = _Dim };
+    /** the scalar type of the coefficients */
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+
+    /** corresponding linear transformation matrix type */
+    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
+    typedef Matrix<Scalar,Dim,1> VectorType;
+
+  public:
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+    /** \returns an equivalent rotation matrix */
+    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
+
+    /** \returns an equivalent rotation matrix 
+      * This function is added to be conform with the Transform class' naming scheme.
+      */
+    inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
+
+    /** \returns the inverse rotation */
+    inline Derived inverse() const { return derived().inverse(); }
+
+    /** \returns the concatenation of the rotation \c *this with a translation \a t */
+    inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
+    { return Transform<Scalar,Dim,Isometry>(*this) * t; }
+
+    /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
+    inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
+    { return toRotationMatrix() * s.factor(); }
+
+    /** \returns the concatenation of the rotation \c *this with a generic expression \a e
+      * \a e can be:
+      *  - a DimxDim linear transformation matrix
+      *  - a DimxDim diagonal matrix (axis aligned scaling)
+      *  - a vector of size Dim
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
+    operator*(const EigenBase<OtherDerived>& e) const
+    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
+
+    /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
+    template<typename OtherDerived> friend
+    inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
+    { return l.derived() * r.toRotationMatrix(); }
+
+    /** \returns the concatenation of a scaling \a l with the rotation \a r */
+    friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
+    { 
+      Transform<Scalar,Dim,Affine> res(r);
+      res.linear().applyOnTheLeft(l);
+      return res;
+    }
+
+    /** \returns the concatenation of the rotation \c *this with a transformation \a t */
+    template<int Mode, int Options>
+    inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
+    { return toRotationMatrix() * t; }
+
+    template<typename OtherVectorType>
+    inline VectorType _transformVector(const OtherVectorType& v) const
+    { return toRotationMatrix() * v; }
+};
+
+namespace internal {
+
+// implementation of the generic product rotation * matrix
+template<typename RotationDerived, typename MatrixType>
+struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
+{
+  enum { Dim = RotationDerived::Dim };
+  typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
+  inline static ReturnType run(const RotationDerived& r, const MatrixType& m)
+  { return r.toRotationMatrix() * m; }
+};
+
+template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
+struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
+{
+  typedef Transform<Scalar,Dim,Affine> ReturnType;
+  inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
+  {
+    ReturnType res(r);
+    res.linear() *= m;
+    return res;
+  }
+};
+
+template<typename RotationDerived,typename OtherVectorType>
+struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
+{
+  enum { Dim = RotationDerived::Dim };
+  typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
+  EIGEN_STRONG_INLINE static ReturnType run(const RotationDerived& r, const OtherVectorType& v)
+  {
+    return r._transformVector(v);
+  }
+};
+
+} // end namespace internal
+
+/** \geometry_module
+  *
+  * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  *this = r.toRotationMatrix();
+}
+
+/** \geometry_module
+  *
+  * \brief Set a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  return *this = r.toRotationMatrix();
+}
+
+namespace internal {
+
+/** \internal
+  *
+  * Helper function to return an arbitrary rotation object to a rotation matrix.
+  *
+  * \param Scalar the numeric type of the matrix coefficients
+  * \param Dim the dimension of the current space
+  *
+  * It returns a Dim x Dim fixed size matrix.
+  *
+  * Default specializations are provided for:
+  *   - any scalar type (2D),
+  *   - any matrix expression,
+  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
+  *
+  * Currently toRotationMatrix is only used by Transform.
+  *
+  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
+  */
+template<typename Scalar, int Dim>
+inline static Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
+{
+  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return Rotation2D<Scalar>(s).toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+{
+  return r.toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+{
+  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
+    YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return mat;
+}
+
+} // end namespace internal
+
+#endif // EIGEN_ROTATIONBASE_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Scaling.h b/extern/Eigen3/Eigen/src/Geometry/Scaling.h
new file mode 100644
index 00000000000..c911d13e1d3
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Scaling.h
@@ -0,0 +1,182 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SCALING_H
+#define EIGEN_SCALING_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Scaling
+  *
+  * \brief Represents a generic uniform scaling transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  *
+  * This class represent a uniform scaling transformation. It is the return
+  * type of Scaling(Scalar), and most of the time this is the only way it
+  * is used. In particular, this class is not aimed to be used to store a scaling transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * To represent an axis aligned scaling, use the DiagonalMatrix class.
+  *
+  * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
+  */
+template<typename _Scalar>
+class UniformScaling
+{
+public:
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+
+protected:
+
+  Scalar m_factor;
+
+public:
+
+  /** Default constructor without initialization. */
+  UniformScaling() {}
+  /** Constructs and initialize a uniform scaling transformation */
+  explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
+
+  inline const Scalar& factor() const { return m_factor; }
+  inline Scalar& factor() { return m_factor; }
+
+  /** Concatenates two uniform scaling */
+  inline UniformScaling operator* (const UniformScaling& other) const
+  { return UniformScaling(m_factor * other.factor()); }
+
+  /** Concatenates a uniform scaling and a translation */
+  template<int Dim>
+  inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
+
+  /** Concatenates a uniform scaling and an affine transformation */
+  template<int Dim, int Mode, int Options>
+  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const;
+
+  /** Concatenates a uniform scaling and a linear transformation matrix */
+  // TODO returns an expression
+  template<typename Derived>
+  inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
+  { return other * m_factor; }
+
+  template<typename Derived,int Dim>
+  inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
+  { return r.toRotationMatrix() * m_factor; }
+
+  /** \returns the inverse scaling */
+  inline UniformScaling inverse() const
+  { return UniformScaling(Scalar(1)/m_factor); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline UniformScaling<NewScalarType> cast() const
+  { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
+  { m_factor = Scalar(other.factor()); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const UniformScaling& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return internal::isApprox(m_factor, other.factor(), prec); }
+
+};
+
+/** Concatenates a linear transformation matrix and a uniform scaling */
+// NOTE this operator is defiend in MatrixBase and not as a friend function
+// of UniformScaling to fix an internal crash of Intel's ICC
+template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
+MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
+{ return derived() * s.factor(); }
+
+/** Constructs a uniform scaling from scale factor \a s */
+static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
+/** Constructs a uniform scaling from scale factor \a s */
+static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
+/** Constructs a uniform scaling from scale factor \a s */
+template<typename RealScalar>
+static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
+{ return UniformScaling<std::complex<RealScalar> >(s); }
+
+/** Constructs a 2D axis aligned scaling */
+template<typename Scalar>
+static inline DiagonalMatrix<Scalar,2> Scaling(Scalar sx, Scalar sy)
+{ return DiagonalMatrix<Scalar,2>(sx, sy); }
+/** Constructs a 3D axis aligned scaling */
+template<typename Scalar>
+static inline DiagonalMatrix<Scalar,3> Scaling(Scalar sx, Scalar sy, Scalar sz)
+{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
+
+/** Constructs an axis aligned scaling expression from vector expression \a coeffs
+  * This is an alias for coeffs.asDiagonal()
+  */
+template<typename Derived>
+static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
+{ return coeffs.asDiagonal(); }
+
+/** \addtogroup Geometry_Module */
+//@{
+/** \deprecated */
+typedef DiagonalMatrix<float, 2> AlignedScaling2f;
+/** \deprecated */
+typedef DiagonalMatrix<double,2> AlignedScaling2d;
+/** \deprecated */
+typedef DiagonalMatrix<float, 3> AlignedScaling3f;
+/** \deprecated */
+typedef DiagonalMatrix<double,3> AlignedScaling3d;
+//@}
+
+template<typename Scalar>
+template<int Dim>
+inline Transform<Scalar,Dim,Affine>
+UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
+{
+  Transform<Scalar,Dim,Affine> res;
+  res.matrix().setZero();
+  res.linear().diagonal().fill(factor());
+  res.translation() = factor() * t.vector();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar>
+template<int Dim,int Mode,int Options>
+inline Transform<Scalar,Dim,Mode>
+UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
+{
+  Transform<Scalar,Dim,Mode> res = t;
+  res.prescale(factor());
+  return res;
+}
+
+#endif // EIGEN_SCALING_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Geometry/Transform.h
new file mode 100644
index 00000000000..19d012572d4
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Transform.h
@@ -0,0 +1,1396 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSFORM_H
+#define EIGEN_TRANSFORM_H
+
+namespace internal {
+
+template<typename Transform>
+struct transform_traits
+{
+  enum
+  {
+    Dim = Transform::Dim,
+    HDim = Transform::HDim,
+    Mode = Transform::Mode,
+    IsProjective = (Mode==Projective)
+  };
+};
+
+template< typename TransformType,
+          typename MatrixType,
+          int Case = transform_traits<TransformType>::IsProjective ? 0
+                   : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
+                   : 2>
+struct transform_right_product_impl;
+
+template< typename Other,
+          int Mode,
+          int Options,
+          int Dim,
+          int HDim,
+          int OtherRows=Other::RowsAtCompileTime,
+          int OtherCols=Other::ColsAtCompileTime>
+struct transform_left_product_impl;
+
+template< typename Lhs,
+          typename Rhs,
+          bool AnyProjective = 
+            transform_traits<Lhs>::IsProjective ||
+            transform_traits<Lhs>::IsProjective>
+struct transform_transform_product_impl;
+
+template< typename Other,
+          int Mode,
+          int Options,
+          int Dim,
+          int HDim,
+          int OtherRows=Other::RowsAtCompileTime,
+          int OtherCols=Other::ColsAtCompileTime>
+struct transform_construct_from_matrix;
+
+template<typename TransformType> struct transform_take_affine_part;
+
+} // end namespace internal
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Transform
+  *
+  * \brief Represents an homogeneous transformation in a N dimensional space
+  *
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _Dim the dimension of the space
+  * \tparam _Mode the type of the transformation. Can be:
+  *              - #Affine: the transformation is stored as a (Dim+1)^2 matrix,
+  *                         where the last row is assumed to be [0 ... 0 1].
+  *              - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
+  *              - #Projective: the transformation is stored as a (Dim+1)^2 matrix
+  *                             without any assumption.
+  * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
+  *                  These Options are passed directly to the underlying matrix type.
+  *
+  * The homography is internally represented and stored by a matrix which
+  * is available through the matrix() method. To understand the behavior of
+  * this class you have to think a Transform object as its internal
+  * matrix representation. The chosen convention is right multiply:
+  *
+  * \code v' = T * v \endcode
+  *
+  * Therefore, an affine transformation matrix M is shaped like this:
+  *
+  * \f$ \left( \begin{array}{cc}
+  * linear & translation\\
+  * 0 ... 0 & 1
+  * \end{array} \right) \f$
+  *
+  * Note that for a projective transformation the last row can be anything,
+  * and then the interpretation of different parts might be sightly different.
+  *
+  * However, unlike a plain matrix, the Transform class provides many features
+  * simplifying both its assembly and usage. In particular, it can be composed
+  * with any other transformations (Transform,Translation,RotationBase,Matrix)
+  * and can be directly used to transform implicit homogeneous vectors. All these
+  * operations are handled via the operator*. For the composition of transformations,
+  * its principle consists to first convert the right/left hand sides of the product
+  * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
+  * Of course, internally, operator* tries to perform the minimal number of operations
+  * according to the nature of each terms. Likewise, when applying the transform
+  * to non homogeneous vectors, the latters are automatically promoted to homogeneous
+  * one before doing the matrix product. The convertions to homogeneous representations
+  * are performed as follow:
+  *
+  * \b Translation t (Dim)x(1):
+  * \f$ \left( \begin{array}{cc}
+  * I & t \\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Rotation R (Dim)x(Dim):
+  * \f$ \left( \begin{array}{cc}
+  * R & 0\\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Linear \b Matrix L (Dim)x(Dim):
+  * \f$ \left( \begin{array}{cc}
+  * L & 0\\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Affine \b Matrix A (Dim)x(Dim+1):
+  * \f$ \left( \begin{array}{c}
+  * A\\
+  * 0\,...\,0\,1
+  * \end{array} \right) \f$
+  *
+  * \b Column \b vector v (Dim)x(1):
+  * \f$ \left( \begin{array}{c}
+  * v\\
+  * 1
+  * \end{array} \right) \f$
+  *
+  * \b Set \b of \b column \b vectors V1...Vn (Dim)x(n):
+  * \f$ \left( \begin{array}{ccc}
+  * v_1 & ... & v_n\\
+  * 1 & ... & 1
+  * \end{array} \right) \f$
+  *
+  * The concatenation of a Transform object with any kind of other transformation
+  * always returns a Transform object.
+  *
+  * A little exception to the "as pure matrix product" rule is the case of the
+  * transformation of non homogeneous vectors by an affine transformation. In
+  * that case the last matrix row can be ignored, and the product returns non
+  * homogeneous vectors.
+  *
+  * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
+  * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
+  * The solution is either to use a Dim x Dynamic matrix or explicitly request a
+  * vector transformation by making the vector homogeneous:
+  * \code
+  * m' = T * m.colwise().homogeneous();
+  * \endcode
+  * Note that there is zero overhead.
+  *
+  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
+  * preprocessor token EIGEN_QT_SUPPORT is defined.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
+  *
+  * \sa class Matrix, class Quaternion
+  */
+template<typename _Scalar, int _Dim, int _Mode, int _Options>
+class Transform
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
+  enum {
+    Mode = _Mode,
+    Options = _Options,
+    Dim = _Dim,     ///< space dimension in which the transformation holds
+    HDim = _Dim+1,  ///< size of a respective homogeneous vector
+    Rows = int(Mode)==(AffineCompact) ? Dim : HDim
+  };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef DenseIndex Index;
+  /** type of the matrix used to represent the transformation */
+  typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
+  /** constified MatrixType */
+  typedef const MatrixType ConstMatrixType;
+  /** type of the matrix used to represent the linear part of the transformation */
+  typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef Block<MatrixType,Dim,Dim> LinearPart;
+  /** type of read reference to the linear part of the transformation */
+  typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart;
+  /** type of read/write reference to the affine part of the transformation */
+  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
+                              MatrixType&,
+                              Block<MatrixType,Dim,HDim> >::type AffinePart;
+  /** type of read reference to the affine part of the transformation */
+  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
+                              const MatrixType&,
+                              const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
+  /** type of a vector */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef Block<MatrixType,Dim,1> TranslationPart;
+  /** type of a read reference to the translation part of the rotation */
+  typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart;
+  /** corresponding translation type */
+  typedef Translation<Scalar,Dim> TranslationType;
+  
+  // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
+  enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
+  /** The return type of the product between a diagonal matrix and a transform */
+  typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
+
+protected:
+
+  MatrixType m_matrix;
+
+public:
+
+  /** Default constructor without initialization of the meaningful coefficients.
+    * If Mode==Affine, then the last row is set to [0 ... 0 1] */
+  inline Transform()
+  {
+    check_template_params();
+    if (int(Mode)==Affine)
+      makeAffine();
+  }
+
+  inline Transform(const Transform& other)
+  {
+    check_template_params();
+    m_matrix = other.m_matrix;
+  }
+
+  inline explicit Transform(const TranslationType& t)
+  {
+    check_template_params();
+    *this = t;
+  }
+  inline explicit Transform(const UniformScaling<Scalar>& s)
+  {
+    check_template_params();
+    *this = s;
+  }
+  template<typename Derived>
+  inline explicit Transform(const RotationBase<Derived, Dim>& r)
+  {
+    check_template_params();
+    *this = r;
+  }
+
+  inline Transform& operator=(const Transform& other)
+  { m_matrix = other.m_matrix; return *this; }
+
+  typedef internal::transform_take_affine_part<Transform> take_affine_part;
+
+  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline explicit Transform(const EigenBase<OtherDerived>& other)
+  {
+    check_template_params();
+    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
+  }
+
+  /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline Transform& operator=(const EigenBase<OtherDerived>& other)
+  {
+    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
+    return *this;
+  }
+  
+  template<int OtherOptions>
+  inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
+  {
+    check_template_params();
+    // only the options change, we can directly copy the matrices
+    m_matrix = other.matrix();
+  }
+
+  template<int OtherMode,int OtherOptions>
+  inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
+  {
+    check_template_params();
+    // prevent conversions as:
+    // Affine | AffineCompact | Isometry = Projective
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
+                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    // prevent conversions as:
+    // Isometry = Affine | AffineCompact
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
+                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    enum { ModeIsAffineCompact = Mode == int(AffineCompact),
+           OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
+    };
+
+    if(ModeIsAffineCompact == OtherModeIsAffineCompact)
+    {
+      // We need the block expression because the code is compiled for all
+      // combinations of transformations and will trigger a compile time error
+      // if one tries to assign the matrices directly
+      m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
+      makeAffine();
+    }
+    else if(OtherModeIsAffineCompact)
+    {
+      typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
+      internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
+    }
+    else
+    {
+      // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
+      // if OtherMode were Projective, the static assert above would already have caught it.
+      // So the only possibility is that OtherMode == Affine
+      linear() = other.linear();
+      translation() = other.translation();
+    }
+  }
+
+  template<typename OtherDerived>
+  Transform(const ReturnByValue<OtherDerived>& other)
+  {
+    check_template_params();
+    other.evalTo(*this);
+  }
+
+  template<typename OtherDerived>
+  Transform& operator=(const ReturnByValue<OtherDerived>& other)
+  {
+    other.evalTo(*this);
+    return *this;
+  }
+
+  #ifdef EIGEN_QT_SUPPORT
+  inline Transform(const QMatrix& other);
+  inline Transform& operator=(const QMatrix& other);
+  inline QMatrix toQMatrix(void) const;
+  inline Transform(const QTransform& other);
+  inline Transform& operator=(const QTransform& other);
+  inline QTransform toQTransform(void) const;
+  #endif
+
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operator(Index,Index) const */
+  inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operator(Index,Index) */
+  inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
+
+  /** \returns a read-only expression of the transformation matrix */
+  inline const MatrixType& matrix() const { return m_matrix; }
+  /** \returns a writable expression of the transformation matrix */
+  inline MatrixType& matrix() { return m_matrix; }
+
+  /** \returns a read-only expression of the linear part of the transformation */
+  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+  /** \returns a writable expression of the linear part of the transformation */
+  inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
+
+  /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
+  inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
+  /** \returns a writable expression of the Dim x HDim affine part of the transformation */
+  inline AffinePart affine() { return take_affine_part::run(m_matrix); }
+
+  /** \returns a read-only expression of the translation vector of the transformation */
+  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
+  /** \returns a writable expression of the translation vector of the transformation */
+  inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
+
+  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
+    *
+    * The right hand side \a other might be either:
+    * \li a vector of size Dim,
+    * \li an homogeneous vector of size Dim+1,
+    * \li a set of vectors of size Dim x Dynamic,
+    * \li a set of homogeneous vectors of size Dim+1 x Dynamic,
+    * \li a linear transformation matrix of size Dim x Dim,
+    * \li an affine transformation matrix of size Dim x Dim+1,
+    * \li a transformation matrix of size Dim+1 x Dim+1.
+    */
+  // note: this function is defined here because some compilers cannot find the respective declaration
+  template<typename OtherDerived>
+  EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
+  operator * (const EigenBase<OtherDerived> &other) const
+  { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
+
+  /** \returns the product expression of a transformation matrix \a a times a transform \a b
+    *
+    * The left hand side \a other might be either:
+    * \li a linear transformation matrix of size Dim x Dim,
+    * \li an affine transformation matrix of size Dim x Dim+1,
+    * \li a general transformation matrix of size Dim+1 x Dim+1.
+    */
+  template<typename OtherDerived> friend
+  inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
+    operator * (const EigenBase<OtherDerived> &a, const Transform &b)
+  { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
+
+  /** \returns The product expression of a transform \a a times a diagonal matrix \a b
+    *
+    * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
+    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
+    * mode is no isometry. In that case, the returned transform is an affinity.
+    */
+  template<typename DiagonalDerived>
+  inline const TransformTimeDiagonalReturnType
+    operator * (const DiagonalBase<DiagonalDerived> &b) const
+  {
+    TransformTimeDiagonalReturnType res(*this);
+    res.linear() *= b;
+    return res;
+  }
+
+  /** \returns The product expression of a diagonal matrix \a a times a transform \a b
+    *
+    * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
+    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
+    * mode is no isometry. In that case, the returned transform is an affinity.
+    */
+  template<typename DiagonalDerived>
+  friend inline TransformTimeDiagonalReturnType
+    operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
+  {
+    TransformTimeDiagonalReturnType res;
+    res.linear().noalias() = a*b.linear();
+    res.translation().noalias() = a*b.translation();
+    if (Mode!=int(AffineCompact))
+      res.matrix().row(Dim) = b.matrix().row(Dim);
+    return res;
+  }
+
+  template<typename OtherDerived>
+  inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
+
+  /** Concatenates two transformations */
+  inline const Transform operator * (const Transform& other) const
+  {
+    return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
+  }
+
+  /** Concatenates two different transformations */
+  template<int OtherMode,int OtherOptions>
+  inline const typename internal::transform_transform_product_impl<
+    Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
+    operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
+  {
+    return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
+  }
+
+  /** \sa MatrixBase::setIdentity() */
+  void setIdentity() { m_matrix.setIdentity(); }
+
+  /**
+   * \brief Returns an identity transformation.
+   * \todo In the future this function should be returning a Transform expression.
+   */
+  static const Transform Identity()
+  {
+    return Transform(MatrixType::Identity());
+  }
+
+  template<typename OtherDerived>
+  inline Transform& scale(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
+
+  inline Transform& scale(Scalar s);
+  inline Transform& prescale(Scalar s);
+
+  template<typename OtherDerived>
+  inline Transform& translate(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
+
+  template<typename RotationType>
+  inline Transform& rotate(const RotationType& rotation);
+
+  template<typename RotationType>
+  inline Transform& prerotate(const RotationType& rotation);
+
+  Transform& shear(Scalar sx, Scalar sy);
+  Transform& preshear(Scalar sx, Scalar sy);
+
+  inline Transform& operator=(const TranslationType& t);
+  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
+  inline Transform operator*(const TranslationType& t) const;
+
+  inline Transform& operator=(const UniformScaling<Scalar>& t);
+  inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
+  inline Transform operator*(const UniformScaling<Scalar>& s) const;
+
+  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
+
+  template<typename Derived>
+  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
+  template<typename Derived>
+  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
+  template<typename Derived>
+  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
+
+  const LinearMatrixType rotation() const;
+  template<typename RotationMatrixType, typename ScalingMatrixType>
+  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
+  template<typename ScalingMatrixType, typename RotationMatrixType>
+  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
+
+  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
+
+  inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
+
+  /** \returns a const pointer to the column major internal matrix */
+  const Scalar* data() const { return m_matrix.data(); }
+  /** \returns a non-const pointer to the column major internal matrix */
+  Scalar* data() { return m_matrix.data(); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
+  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
+  {
+    check_template_params();
+    m_matrix = other.matrix().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Transform& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_matrix.isApprox(other.m_matrix, prec); }
+
+  /** Sets the last row to [0 ... 0 1]
+    */
+  void makeAffine()
+  {
+    if(int(Mode)!=int(AffineCompact))
+    {
+      matrix().template block<1,Dim>(Dim,0).setZero();
+      matrix().coeffRef(Dim,Dim) = 1;
+    }
+  }
+
+  /** \internal
+    * \returns the Dim x Dim linear part if the transformation is affine,
+    *          and the HDim x Dim part for projective transformations.
+    */
+  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
+  /** \internal
+    * \returns the Dim x Dim linear part if the transformation is affine,
+    *          and the HDim x Dim part for projective transformations.
+    */
+  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
+
+  /** \internal
+    * \returns the translation part if the transformation is affine,
+    *          and the last column for projective transformations.
+    */
+  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
+  /** \internal
+    * \returns the translation part if the transformation is affine,
+    *          and the last column for projective transformations.
+    */
+  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
+
+
+  #ifdef EIGEN_TRANSFORM_PLUGIN
+  #include EIGEN_TRANSFORM_PLUGIN
+  #endif
+  
+protected:
+  #ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void check_template_params()
+    {
+      EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+  #endif
+
+};
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Isometry> Isometry2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Isometry> Isometry3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Isometry> Isometry2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Isometry> Isometry3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Affine> Affine2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Affine> Affine3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Affine> Affine2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Affine> Affine3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,AffineCompact> AffineCompact2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,AffineCompact> AffineCompact3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,AffineCompact> AffineCompact2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,AffineCompact> AffineCompact3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Projective> Projective2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Projective> Projective3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Projective> Projective2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Projective> Projective3d;
+
+/**************************
+*** Optional QT support ***
+**************************/
+
+#ifdef EIGEN_QT_SUPPORT
+/** Initializes \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Options>
+Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
+{
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Options>
+Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix << other.m11(), other.m21(), other.dx(),
+              other.m12(), other.m22(), other.dy(),
+              0, 0, 1;
+  return *this;
+}
+
+/** \returns a QMatrix from \c *this assuming the dimension is 2.
+  *
+  * \warning this conversion might loss data if \c *this is not affine
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
+{
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
+                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
+                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
+}
+
+/** Initializes \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Options>
+Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
+{
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
+{
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  if (Mode == int(AffineCompact))
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy();
+  else
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy(),
+                other.m13(), other.m23(), other.m33();
+  return *this;
+}
+
+/** \returns a QTransform from \c *this assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  if (Mode == int(AffineCompact))
+    return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
+                      m_matrix.coeff(0,1), m_matrix.coeff(1,1),
+                      m_matrix.coeff(0,2), m_matrix.coeff(1,2));
+  else
+    return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
+                      m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
+                      m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
+}
+#endif
+
+/*********************
+*** Procedural API ***
+*********************/
+
+/** Applies on the right the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa prescale()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt().noalias() = (linearExt() * other.asDiagonal());
+  return *this;
+}
+
+/** Applies on the right a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa prescale(Scalar)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(Scalar s)
+{
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt() *= s;
+  return *this;
+}
+
+/** Applies on the left the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa scale()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
+  return *this;
+}
+
+/** Applies on the left a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa scale(Scalar)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(Scalar s)
+{
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template topRows<Dim>() *= s;
+  return *this;
+}
+
+/** Applies on the right the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa pretranslate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  translationExt() += linearExt() * other;
+  return *this;
+}
+
+/** Applies on the left the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa translate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  if(int(Mode)==int(Projective))
+    affine() += other * m_matrix.row(Dim);
+  else
+    translation() += other;
+  return *this;
+}
+
+/** Applies on the right the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * The template parameter \a RotationType is the type of the rotation which
+  * must be known by internal::toRotationMatrix<>.
+  *
+  * Natively supported types includes:
+  *   - any scalar (2D),
+  *   - a Dim x Dim matrix expression,
+  *   - a Quaternion (3D),
+  *   - a AngleAxis (3D)
+  *
+  * This mechanism is easily extendable to support user types such as Euler angles,
+  * or a pair of Quaternion for 4D rotations.
+  *
+  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationType>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
+{
+  linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
+  return *this;
+}
+
+/** Applies on the left the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * See rotate() for further details.
+  *
+  * \sa rotate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationType>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
+{
+  m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
+                                         * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/** Applies on the right the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa preshear()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::shear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  VectorType tmp = linear().col(0)*sy + linear().col(1);
+  linear() << linear().col(0) + linear().col(1)*sx, tmp;
+  return *this;
+}
+
+/** Applies on the left the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa shear()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::preshear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/******************************************************
+*** Scaling, Translation and Rotation compatibility ***
+******************************************************/
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
+{
+  linear().setIdentity();
+  translation() = t.vector();
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
+{
+  Transform res = *this;
+  res.translate(t.vector());
+  return res;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
+{
+  m_matrix.setZero();
+  linear().diagonal().fill(s.factor());
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const
+{
+  Transform res = *this;
+  res.scale(s.factor());
+  return res;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename Derived>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
+{
+  linear() = internal::toRotationMatrix<Scalar,Dim>(r);
+  translation().setZero();
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename Derived>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
+{
+  Transform res = *this;
+  res.rotate(r.derived());
+  return res;
+}
+
+/************************
+*** Special functions ***
+************************/
+
+/** \returns the rotation part of the transformation
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
+Transform<Scalar,Dim,Mode,Options>::rotation() const
+{
+  LinearMatrixType result;
+  computeRotationScaling(&result, (LinearMatrixType*)0);
+  return result;
+}
+
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeScalingRotation(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationMatrixType, typename ScalingMatrixType>
+void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->lazyAssign(m * svd.matrixV().adjoint());
+  }
+}
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename ScalingMatrixType, typename RotationMatrixType>
+void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->lazyAssign(m * svd.matrixV().adjoint());
+  }
+}
+
+/** Convenient method to set \c *this from a position, orientation and scale
+  * of a 3D object.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
+{
+  linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
+  linear() *= scale.asDiagonal();
+  translation() = position;
+  makeAffine();
+  return *this;
+}
+
+namespace internal {
+
+// selector needed to avoid taking the inverse of a 3x4 matrix
+template<typename TransformType, int Mode=TransformType::Mode>
+struct projective_transform_inverse
+{
+  static inline void run(const TransformType&, TransformType&)
+  {}
+};
+
+template<typename TransformType>
+struct projective_transform_inverse<TransformType, Projective>
+{
+  static inline void run(const TransformType& m, TransformType& res)
+  {
+    res.matrix() = m.matrix().inverse();
+  }
+};
+
+} // end namespace internal
+
+
+/**
+  *
+  * \returns the inverse transformation according to some given knowledge
+  * on \c *this.
+  *
+  * \param hint allows to optimize the inversion process when the transformation
+  * is known to be not a general transformation (optional). The possible values are:
+  *  - #Projective if the transformation is not necessarily affine, i.e., if the
+  *    last row is not guaranteed to be [0 ... 0 1]
+  *  - #Affine if the last row can be assumed to be [0 ... 0 1]
+  *  - #Isometry if the transformation is only a concatenations of translations
+  *    and rotations.
+  *  The default is the template class parameter \c Mode.
+  *
+  * \warning unless \a traits is always set to NoShear or NoScaling, this function
+  * requires the generic inverse method of MatrixBase defined in the LU module. If
+  * you forget to include this module, then you will get hard to debug linking errors.
+  *
+  * \sa MatrixBase::inverse()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>
+Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
+{
+  Transform res;
+  if (hint == Projective)
+  {
+    internal::projective_transform_inverse<Transform>::run(*this, res);
+  }
+  else
+  {
+    if (hint == Isometry)
+    {
+      res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
+    }
+    else if(hint&Affine)
+    {
+      res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
+    }
+    else
+    {
+      eigen_assert(false && "Invalid transform traits in Transform::Inverse");
+    }
+    // translation and remaining parts
+    res.matrix().template topRightCorner<Dim,1>()
+      = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
+    res.makeAffine(); // we do need this, because in the beginning res is uninitialized
+  }
+  return res;
+}
+
+namespace internal {
+
+/*****************************************************
+*** Specializations of take affine part            ***
+*****************************************************/
+
+template<typename TransformType> struct transform_take_affine_part {
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef typename TransformType::AffinePart AffinePart;
+  typedef typename TransformType::ConstAffinePart ConstAffinePart;
+  static inline AffinePart run(MatrixType& m)
+  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
+  static inline ConstAffinePart run(const MatrixType& m)
+  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
+};
+
+template<typename Scalar, int Dim, int Options>
+struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
+  typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
+  static inline MatrixType& run(MatrixType& m) { return m; }
+  static inline const MatrixType& run(const MatrixType& m) { return m; }
+};
+
+/*****************************************************
+*** Specializations of construct from matrix       ***
+*****************************************************/
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  {
+    transform->linear() = other;
+    transform->translation().setZero();
+    transform->makeAffine();
+  }
+};
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  {
+    transform->affine() = other;
+    transform->makeAffine();
+  }
+};
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  { transform->matrix() = other; }
+};
+
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
+  { transform->matrix() = other.template block<Dim,HDim>(0,0); }
+};
+
+/**********************************************************
+***   Specializations of operator* with rhs EigenBase   ***
+**********************************************************/
+
+template<int LhsMode,int RhsMode>
+struct transform_product_result
+{
+  enum 
+  { 
+    Mode =
+      (LhsMode == (int)Projective    || RhsMode == (int)Projective    ) ? Projective :
+      (LhsMode == (int)Affine        || RhsMode == (int)Affine        ) ? Affine :
+      (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
+      (LhsMode == (int)Isometry      || RhsMode == (int)Isometry      ) ? Isometry : Projective
+  };
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 0 >
+{
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    return T.matrix() * other;
+  }
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 1 >
+{
+  enum { 
+    Dim = TransformType::Dim, 
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
+
+    ResultType res(other.rows(),other.cols());
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
+    res.row(OtherRows-1) = other.row(OtherRows-1);
+    
+    return res;
+  }
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 2 >
+{
+  enum { 
+    Dim = TransformType::Dim, 
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
+
+    ResultType res(other.rows(),other.cols());
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other;
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation();
+
+    return res;
+  }
+};
+
+/**********************************************************
+***   Specializations of operator* with lhs EigenBase   ***
+**********************************************************/
+
+// generic HDim x HDim matrix * T => Projective
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  { return ResultType(other * tr.matrix()); }
+};
+
+// generic HDim x HDim matrix * AffineCompact => Projective
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
+    res.matrix().col(Dim) += other.col(Dim);
+    return res;
+  }
+};
+
+// affine matrix * T
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.affine().noalias() = other * tr.matrix();
+    res.matrix().row(Dim) = tr.matrix().row(Dim);
+    return res;
+  }
+};
+
+// affine matrix * AffineCompact
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
+    res.translation() += other.col(Dim);
+    return res;
+  }
+};
+
+// linear matrix * T
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other, const TransformType& tr)
+  {
+    TransformType res;
+    if(Mode!=int(AffineCompact))
+      res.matrix().row(Dim) = tr.matrix().row(Dim);
+    res.matrix().template topRows<Dim>().noalias()
+      = other * tr.matrix().template topRows<Dim>();
+    return res;
+  }
+};
+
+/**********************************************************
+*** Specializations of operator* with another Transform ***
+**********************************************************/
+
+template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
+{
+  enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
+  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
+  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
+  typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
+  static ResultType run(const Lhs& lhs, const Rhs& rhs)
+  {
+    ResultType res;
+    res.linear() = lhs.linear() * rhs.linear();
+    res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
+    res.makeAffine();
+    return res;
+  }
+};
+
+template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
+{
+  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
+  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
+  typedef Transform<Scalar,Dim,Projective> ResultType;
+  static ResultType run(const Lhs& lhs, const Rhs& rhs)
+  {
+    return ResultType( lhs.matrix() * rhs.matrix() );
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRANSFORM_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Translation.h b/extern/Eigen3/Eigen/src/Geometry/Translation.h
new file mode 100644
index 00000000000..d8fe50f987e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Translation.h
@@ -0,0 +1,215 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSLATION_H
+#define EIGEN_TRANSLATION_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Translation
+  *
+  * \brief Represents a translation transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
+  *
+  * \note This class is not aimed to be used to store a translation transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * \sa class Scaling, class Transform
+  */
+template<typename _Scalar, int _Dim>
+class Translation
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
+  /** dimension of the space */
+  enum { Dim = _Dim };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  /** corresponding vector type */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** corresponding linear transformation matrix type */
+  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
+  /** corresponding affine transformation type */
+  typedef Transform<Scalar,Dim,Affine> AffineTransformType;
+
+protected:
+
+  VectorType m_coeffs;
+
+public:
+
+  /** Default constructor without initialization. */
+  Translation() {}
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy)
+  {
+    eigen_assert(Dim==2);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+  }
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  {
+    eigen_assert(Dim==3);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+    m_coeffs.z() = sz;
+  }
+  /** Constructs and initialize the translation transformation from a vector of translation coefficients */
+  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+
+  /** \brief Retruns the x-translation by value. **/
+  inline Scalar x() const { return m_coeffs.x(); }
+  /** \brief Retruns the y-translation by value. **/
+  inline Scalar y() const { return m_coeffs.y(); }
+  /** \brief Retruns the z-translation by value. **/
+  inline Scalar z() const { return m_coeffs.z(); }
+
+  /** \brief Retruns the x-translation as a reference. **/
+  inline Scalar& x() { return m_coeffs.x(); }
+  /** \brief Retruns the y-translation as a reference. **/
+  inline Scalar& y() { return m_coeffs.y(); }
+  /** \brief Retruns the z-translation as a reference. **/
+  inline Scalar& z() { return m_coeffs.z(); }
+
+  const VectorType& vector() const { return m_coeffs; }
+  VectorType& vector() { return m_coeffs; }
+
+  const VectorType& translation() const { return m_coeffs; }
+  VectorType& translation() { return m_coeffs; }
+
+  /** Concatenates two translation */
+  inline Translation operator* (const Translation& other) const
+  { return Translation(m_coeffs + other.m_coeffs); }
+
+  /** Concatenates a translation and a uniform scaling */
+  inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
+
+  /** Concatenates a translation and a linear transformation */
+  template<typename OtherDerived>
+  inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
+
+  /** Concatenates a translation and a rotation */
+  template<typename Derived>
+  inline AffineTransformType operator*(const RotationBase<Derived,Dim>& r) const
+  { return *this * r.toRotationMatrix(); }
+
+  /** \returns the concatenation of a linear transformation \a l with the translation \a t */
+  // its a nightmare to define a templated friend function outside its declaration
+  template<typename OtherDerived> friend
+  inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
+  {
+    AffineTransformType res;
+    res.matrix().setZero();
+    res.linear() = linear.derived();
+    res.translation() = linear.derived() * t.m_coeffs;
+    res.matrix().row(Dim).setZero();
+    res(Dim,Dim) = Scalar(1);
+    return res;
+  }
+
+  /** Concatenates a translation and a transformation */
+  template<int Mode, int Options>
+  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
+  {
+    Transform<Scalar,Dim,Mode> res = t;
+    res.pretranslate(m_coeffs);
+    return res;
+  }
+
+  /** Applies translation to vector */
+  inline VectorType operator* (const VectorType& other) const
+  { return m_coeffs + other; }
+
+  /** \returns the inverse translation (opposite) */
+  Translation inverse() const { return Translation(-m_coeffs); }
+
+  Translation& operator=(const Translation& other)
+  {
+    m_coeffs = other.m_coeffs;
+    return *this;
+  }
+
+  static const Translation Identity() { return Translation(VectorType::Zero()); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
+  { m_coeffs = other.vector().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+};
+
+/** \addtogroup Geometry_Module */
+//@{
+typedef Translation<float, 2> Translation2f;
+typedef Translation<double,2> Translation2d;
+typedef Translation<float, 3> Translation3f;
+typedef Translation<double,3> Translation3d;
+//@}
+
+template<typename Scalar, int Dim>
+inline typename Translation<Scalar,Dim>::AffineTransformType
+Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
+{
+  AffineTransformType res;
+  res.matrix().setZero();
+  res.linear().diagonal().fill(other.factor());
+  res.translation() = m_coeffs;
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+inline typename Translation<Scalar,Dim>::AffineTransformType
+Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
+{
+  AffineTransformType res;
+  res.matrix().setZero();
+  res.linear() = linear.derived();
+  res.translation() = m_coeffs;
+  res.matrix().row(Dim).setZero();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+#endif // EIGEN_TRANSLATION_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/Umeyama.h b/extern/Eigen3/Eigen/src/Geometry/Umeyama.h
new file mode 100644
index 00000000000..b50f461730e
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/Umeyama.h
@@ -0,0 +1,183 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_UMEYAMA_H
+#define EIGEN_UMEYAMA_H
+
+// This file requires the user to include 
+// * Eigen/Core
+// * Eigen/LU 
+// * Eigen/SVD
+// * Eigen/Array
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+// These helpers are required since it allows to use mixed types as parameters
+// for the Umeyama. The problem with mixed parameters is that the return type
+// cannot trivially be deduced when float and double types are mixed.
+namespace internal {
+
+// Compile time return type deduction for different MatrixBase types.
+// Different means here different alignment and parameters but the same underlying
+// real scalar type.
+template<typename MatrixType, typename OtherMatrixType>
+struct umeyama_transform_matrix_type
+{
+  enum {
+    MinRowsAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, OtherMatrixType::RowsAtCompileTime),
+
+    // When possible we want to choose some small fixed size value since the result
+    // is likely to fit on the stack. So here, EIGEN_SIZE_MIN_PREFER_DYNAMIC is not what we want.
+    HomogeneousDimension = int(MinRowsAtCompileTime) == Dynamic ? Dynamic : int(MinRowsAtCompileTime)+1
+  };
+
+  typedef Matrix<typename traits<MatrixType>::Scalar,
+    HomogeneousDimension,
+    HomogeneousDimension,
+    AutoAlign | (traits<MatrixType>::Flags & RowMajorBit ? RowMajor : ColMajor),
+    HomogeneousDimension,
+    HomogeneousDimension
+  > type;
+};
+
+}
+
+#endif
+
+/**
+* \geometry_module \ingroup Geometry_Module
+*
+* \brief Returns the transformation between two point sets.
+*
+* The algorithm is based on:
+* "Least-squares estimation of transformation parameters between two point patterns",
+* Shinji Umeyama, PAMI 1991, DOI: 10.1109/34.88573
+*
+* It estimates parameters \f$ c, \mathbf{R}, \f$ and \f$ \mathbf{t} \f$ such that
+* \f{align*}
+*   \frac{1}{n} \sum_{i=1}^n \vert\vert y_i - (c\mathbf{R}x_i + \mathbf{t}) \vert\vert_2^2
+* \f}
+* is minimized.
+*
+* The algorithm is based on the analysis of the covariance matrix
+* \f$ \Sigma_{\mathbf{x}\mathbf{y}} \in \mathbb{R}^{d \times d} \f$
+* of the input point sets \f$ \mathbf{x} \f$ and \f$ \mathbf{y} \f$ where 
+* \f$d\f$ is corresponding to the dimension (which is typically small).
+* The analysis is involving the SVD having a complexity of \f$O(d^3)\f$
+* though the actual computational effort lies in the covariance
+* matrix computation which has an asymptotic lower bound of \f$O(dm)\f$ when 
+* the input point sets have dimension \f$d \times m\f$.
+*
+* Currently the method is working only for floating point matrices.
+*
+* \todo Should the return type of umeyama() become a Transform?
+*
+* \param src Source points \f$ \mathbf{x} = \left( x_1, \hdots, x_n \right) \f$.
+* \param dst Destination points \f$ \mathbf{y} = \left( y_1, \hdots, y_n \right) \f$.
+* \param with_scaling Sets \f$ c=1 \f$ when <code>false</code> is passed.
+* \return The homogeneous transformation 
+* \f{align*}
+*   T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}
+* \f}
+* minimizing the resudiual above. This transformation is always returned as an 
+* Eigen::Matrix.
+*/
+template <typename Derived, typename OtherDerived>
+typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
+umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, bool with_scaling = true)
+{
+  typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
+  typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename Derived::Index Index;
+
+  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  enum { Dimension = EIGEN_SIZE_MIN_PREFER_DYNAMIC(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
+
+  typedef Matrix<Scalar, Dimension, 1> VectorType;
+  typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
+  typedef typename internal::plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
+
+  const Index m = src.rows(); // dimension
+  const Index n = src.cols(); // number of measurements
+
+  // required for demeaning ...
+  const RealScalar one_over_n = 1 / static_cast<RealScalar>(n);
+
+  // computation of mean
+  const VectorType src_mean = src.rowwise().sum() * one_over_n;
+  const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
+
+  // demeaning of src and dst points
+  const RowMajorMatrixType src_demean = src.colwise() - src_mean;
+  const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
+
+  // Eq. (36)-(37)
+  const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
+
+  // Eq. (38)
+  const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
+
+  JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
+
+  // Initialize the resulting transformation with an identity matrix...
+  TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);
+
+  // Eq. (39)
+  VectorType S = VectorType::Ones(m);
+  if (sigma.determinant()<0) S(m-1) = -1;
+
+  // Eq. (40) and (43)
+  const VectorType& d = svd.singularValues();
+  Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
+  if (rank == m-1) {
+    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) {
+      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
+    } else {
+      const Scalar s = S(m-1); S(m-1) = -1;
+      Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
+      S(m-1) = s;
+    }
+  } else {
+    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
+  }
+
+  // Eq. (42)
+  const Scalar c = 1/src_var * svd.singularValues().dot(S);
+
+  // Eq. (41)
+  // Note that we first assign dst_mean to the destination so that there no need
+  // for a temporary.
+  Rt.col(m).head(m) = dst_mean;
+  Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
+
+  if (with_scaling) Rt.block(0,0,m,m) *= c;
+
+  return Rt;
+}
+
+#endif // EIGEN_UMEYAMA_H
diff --git a/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h b/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
new file mode 100644
index 00000000000..cbe695c7259
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -0,0 +1,126 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GEOMETRY_SSE_H
+#define EIGEN_GEOMETRY_SSE_H
+
+namespace internal {
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
+{
+  inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
+    Quaternion<float> res;
+    __m128 a = _a.coeffs().template packet<Aligned>(0);
+    __m128 b = _b.coeffs().template packet<Aligned>(0);
+    __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
+                                         vec4f_swizzle1(b,2,0,1,2)),mask);
+    __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
+                                         vec4f_swizzle1(b,0,1,2,1)),mask);
+    pstore(&res.x(),
+              _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
+                                    _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
+                                               vec4f_swizzle1(b,1,2,0,0))),
+                         _mm_add_ps(flip1,flip2)));
+    return res;
+  }
+};
+
+template<typename VectorLhs,typename VectorRhs>
+struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
+{
+  inline static typename plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
+    __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
+    typename plain_matrix_type<VectorLhs>::type res;
+    pstore(&res.x(),_mm_sub_ps(mul1,mul2));
+    return res;
+  }
+};
+
+
+
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
+{
+  inline static Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+
+  Quaternion<double> res;
+
+  const double* a = _a.coeffs().data();
+  Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
+  Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
+  Packet2d a_xx = pset1<Packet2d>(a[0]);
+  Packet2d a_yy = pset1<Packet2d>(a[1]);
+  Packet2d a_zz = pset1<Packet2d>(a[2]);
+  Packet2d a_ww = pset1<Packet2d>(a[3]);
+
+  // two temporaries:
+  Packet2d t1, t2;
+
+  /*
+   * t1 = ww*xy + yy*zw
+   * t2 = zz*xy - xx*zw
+   * res.xy = t1 +/- swap(t2)
+   */
+  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
+  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
+#ifdef __SSE3__
+  EIGEN_UNUSED_VARIABLE(mask)
+  pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
+#else
+  pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
+#endif
+  
+  /*
+   * t1 = ww*zw - yy*xy
+   * t2 = zz*zw + xx*xy
+   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
+   */
+  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
+  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
+#ifdef __SSE3__
+  EIGEN_UNUSED_VARIABLE(mask)
+  pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
+#else
+  pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
+#endif
+
+  return res;
+}
+};
+
+} // end namespace internal
+
+#endif // EIGEN_GEOMETRY_SSE_H
diff --git a/extern/Eigen3/Eigen/src/Householder/BlockHouseholder.h b/extern/Eigen3/Eigen/src/Householder/BlockHouseholder.h
new file mode 100644
index 00000000000..23ce1bfbd46
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Householder/BlockHouseholder.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Vincent Lejeune
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK_HOUSEHOLDER_H
+#define EIGEN_BLOCK_HOUSEHOLDER_H
+
+// This file contains some helper function to deal with block householder reflectors
+
+namespace internal {
+
+/** \internal */
+template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+{
+  typedef typename TriangularFactorType::Index Index;
+  typedef typename VectorsType::Scalar Scalar;
+  const Index nbVecs = vectors.cols();
+  eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+
+  for(Index i = 0; i < nbVecs; i++)
+  {
+    Index rs = vectors.rows() - i;
+    Scalar Vii = vectors(i,i);
+    vectors.const_cast_derived().coeffRef(i,i) = Scalar(1);
+    triFactor.col(i).head(i).noalias() = -hCoeffs(i) * vectors.block(i, 0, rs, i).adjoint()
+                                       * vectors.col(i).tail(rs);
+    vectors.const_cast_derived().coeffRef(i, i) = Vii;
+    // FIXME add .noalias() once the triangular product can work inplace
+    triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
+                             * triFactor.col(i).head(i);
+    triFactor(i,i) = hCoeffs(i);
+  }
+}
+
+/** \internal */
+template<typename MatrixType,typename VectorsType,typename CoeffsType>
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs)
+{
+  typedef typename MatrixType::Index Index;
+  enum { TFactorSize = MatrixType::ColsAtCompileTime };
+  Index nbVecs = vectors.cols();
+  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize> T(nbVecs,nbVecs);
+  make_block_householder_triangular_factor(T, vectors, hCoeffs);
+
+  const TriangularView<VectorsType, UnitLower>& V(vectors);
+
+  // A -= V T V^* A
+  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,0,
+         VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
+  // FIXME add .noalias() once the triangular product can work inplace
+  tmp = T.template triangularView<Upper>().adjoint() * tmp;
+  mat.noalias() -= V * tmp;
+}
+
+} // end namespace internal
+
+#endif // EIGEN_BLOCK_HOUSEHOLDER_H
diff --git a/extern/Eigen3/Eigen/src/Householder/Householder.h b/extern/Eigen3/Eigen/src/Householder/Householder.h
new file mode 100644
index 00000000000..74139c0dcce
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Householder/Householder.h
@@ -0,0 +1,133 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOUSEHOLDER_H
+#define EIGEN_HOUSEHOLDER_H
+
+namespace internal {
+template<int n> struct decrement_size
+{
+  enum {
+    ret = n==Dynamic ? n : n-1
+  };
+};
+}
+
+template<typename Derived>
+void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
+{
+  VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
+  makeHouseholder(essentialPart, tau, beta);
+}
+
+/** Computes the elementary reflector H such that:
+  * \f$ H *this = [ beta 0 ... 0]^T \f$
+  * where the transformation H is:
+  * \f$ H = I - tau v v^*\f$
+  * and the vector v is:
+  * \f$ v^T = [1 essential^T] \f$
+  *
+  * On output:
+  * \param essential the essential part of the vector \c v
+  * \param tau the scaling factor of the householder transformation
+  * \param beta the result of H * \c *this
+  *
+  * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
+  *     MatrixBase::applyHouseholderOnTheRight()
+  */
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::makeHouseholder(
+  EssentialPart& essential,
+  Scalar& tau,
+  RealScalar& beta) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
+  VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
+  
+  RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
+  Scalar c0 = coeff(0);
+
+  if(tailSqNorm == RealScalar(0) && internal::imag(c0)==RealScalar(0))
+  {
+    tau = RealScalar(0);
+    beta = internal::real(c0);
+    essential.setZero();
+  }
+  else
+  {
+    beta = internal::sqrt(internal::abs2(c0) + tailSqNorm);
+    if (internal::real(c0)>=RealScalar(0))
+      beta = -beta;
+    essential = tail / (c0 - beta);
+    tau = internal::conj((beta - c0) / beta);
+  }
+}
+
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheLeft(
+  const EssentialPart& essential,
+  const Scalar& tau,
+  Scalar* workspace)
+{
+  if(rows() == 1)
+  {
+    *this *= Scalar(1)-tau;
+  }
+  else
+  {
+    Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
+    Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
+    tmp.noalias() = essential.adjoint() * bottom;
+    tmp += this->row(0);
+    this->row(0) -= tau * tmp;
+    bottom.noalias() -= tau * essential * tmp;
+  }
+}
+
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheRight(
+  const EssentialPart& essential,
+  const Scalar& tau,
+  Scalar* workspace)
+{
+  if(cols() == 1)
+  {
+    *this *= Scalar(1)-tau;
+  }
+  else
+  {
+    Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
+    Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
+    tmp.noalias() = right * essential.conjugate();
+    tmp += this->col(0);
+    this->col(0) -= tau * tmp;
+    right.noalias() -= tau * tmp * essential.transpose();
+  }
+}
+
+#endif // EIGEN_HOUSEHOLDER_H
diff --git a/extern/Eigen3/Eigen/src/Householder/HouseholderSequence.h b/extern/Eigen3/Eigen/src/Householder/HouseholderSequence.h
new file mode 100644
index 00000000000..717f29c99e9
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Householder/HouseholderSequence.h
@@ -0,0 +1,429 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
+#define EIGEN_HOUSEHOLDER_SEQUENCE_H
+
+/** \ingroup Householder_Module
+  * \householder_module
+  * \class HouseholderSequence
+  * \brief Sequence of Householder reflections acting on subspaces with decreasing size
+  * \tparam VectorsType type of matrix containing the Householder vectors
+  * \tparam CoeffsType  type of vector containing the Householder coefficients
+  * \tparam Side        either OnTheLeft (the default) or OnTheRight
+  *
+  * This class represents a product sequence of Householder reflections where the first Householder reflection
+  * acts on the whole space, the second Householder reflection leaves the one-dimensional subspace spanned by
+  * the first unit vector invariant, the third Householder reflection leaves the two-dimensional subspace
+  * spanned by the first two unit vectors invariant, and so on up to the last reflection which leaves all but
+  * one dimensions invariant and acts only on the last dimension. Such sequences of Householder reflections
+  * are used in several algorithms to zero out certain parts of a matrix. Indeed, the methods
+  * HessenbergDecomposition::matrixQ(), Tridiagonalization::matrixQ(), HouseholderQR::householderQ(),
+  * and ColPivHouseholderQR::householderQ() all return a %HouseholderSequence.
+  *
+  * More precisely, the class %HouseholderSequence represents an \f$ n \times n \f$ matrix \f$ H \f$ of the
+  * form \f$ H = \prod_{i=0}^{n-1} H_i \f$ where the i-th Householder reflection is \f$ H_i = I - h_i v_i
+  * v_i^* \f$. The i-th Householder coefficient \f$ h_i \f$ is a scalar and the i-th Householder vector \f$
+  * v_i \f$ is a vector of the form
+  * \f[ 
+  * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
+  * \f]
+  * The last \f$ n-i \f$ entries of \f$ v_i \f$ are called the essential part of the Householder vector.
+  *
+  * Typical usages are listed below, where H is a HouseholderSequence:
+  * \code
+  * A.applyOnTheRight(H);             // A = A * H
+  * A.applyOnTheLeft(H);              // A = H * A
+  * A.applyOnTheRight(H.adjoint());   // A = A * H^*
+  * A.applyOnTheLeft(H.adjoint());    // A = H^* * A
+  * MatrixXd Q = H;                   // conversion to a dense matrix
+  * \endcode
+  * In addition to the adjoint, you can also apply the inverse (=adjoint), the transpose, and the conjugate operators.
+  *
+  * See the documentation for HouseholderSequence(const VectorsType&, const CoeffsType&) for an example.
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+
+namespace internal {
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+  typedef typename VectorsType::Scalar Scalar;
+  typedef typename VectorsType::Index Index;
+  typedef typename VectorsType::StorageKind StorageKind;
+  enum {
+    RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
+                                        : traits<VectorsType>::ColsAtCompileTime,
+    ColsAtCompileTime = RowsAtCompileTime,
+    MaxRowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::MaxRowsAtCompileTime
+                                           : traits<VectorsType>::MaxColsAtCompileTime,
+    MaxColsAtCompileTime = MaxRowsAtCompileTime,
+    Flags = 0
+  };
+};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct hseq_side_dependent_impl
+{
+  typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
+  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
+  typedef typename VectorsType::Index Index;
+  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+  {
+    Index start = k+1+h.m_shift;
+    return Block<const VectorsType,Dynamic,1>(h.m_vectors, start, k, h.rows()-start, 1);
+  }
+};
+
+template<typename VectorsType, typename CoeffsType>
+struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
+{
+  typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
+  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
+  typedef typename VectorsType::Index Index;
+  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+  {
+    Index start = k+1+h.m_shift;
+    return Block<const VectorsType,1,Dynamic>(h.m_vectors, k, start, 1, h.rows()-start).transpose();
+  }
+};
+
+template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
+{
+  typedef typename scalar_product_traits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
+    ResultScalar;
+  typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
+                 0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
+};
+
+} // end namespace internal
+
+template<typename VectorsType, typename CoeffsType, int Side> class HouseholderSequence
+  : public EigenBase<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+    enum {
+      RowsAtCompileTime = internal::traits<HouseholderSequence>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<HouseholderSequence>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<HouseholderSequence>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
+    };
+    typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
+    typedef typename VectorsType::Index Index;
+
+    typedef typename internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::EssentialVectorType
+            EssentialVectorType;
+
+  public:
+
+    typedef HouseholderSequence<
+      VectorsType,
+      typename internal::conditional<NumTraits<Scalar>::IsComplex,
+        typename internal::remove_all<typename CoeffsType::ConjugateReturnType>::type,
+        CoeffsType>::type,
+      Side
+    > ConjugateReturnType;
+
+    /** \brief Constructor.
+      * \param[in]  v      %Matrix containing the essential parts of the Householder vectors
+      * \param[in]  h      Vector containing the Householder coefficients
+      *
+      * Constructs the Householder sequence with coefficients given by \p h and vectors given by \p v. The
+      * i-th Householder coefficient \f$ h_i \f$ is given by \p h(i) and the essential part of the i-th
+      * Householder vector \f$ v_i \f$ is given by \p v(k,i) with \p k > \p i (the subdiagonal part of the
+      * i-th column). If \p v has fewer columns than rows, then the Householder sequence contains as many
+      * Householder reflections as there are columns.
+      *
+      * \note The %HouseholderSequence object stores \p v and \p h by reference.
+      *
+      * Example: \include HouseholderSequence_HouseholderSequence.cpp
+      * Output: \verbinclude HouseholderSequence_HouseholderSequence.out
+      *
+      * \sa setLength(), setShift()
+      */
+    HouseholderSequence(const VectorsType& v, const CoeffsType& h)
+      : m_vectors(v), m_coeffs(h), m_trans(false), m_length(v.diagonalSize()),
+        m_shift(0)
+    {
+    }
+
+    /** \brief Copy constructor. */
+    HouseholderSequence(const HouseholderSequence& other)
+      : m_vectors(other.m_vectors),
+        m_coeffs(other.m_coeffs),
+        m_trans(other.m_trans),
+        m_length(other.m_length),
+        m_shift(other.m_shift)
+    {
+    }
+
+    /** \brief Number of rows of transformation viewed as a matrix.
+      * \returns Number of rows 
+      * \details This equals the dimension of the space that the transformation acts on.
+      */
+    Index rows() const { return Side==OnTheLeft ? m_vectors.rows() : m_vectors.cols(); }
+
+    /** \brief Number of columns of transformation viewed as a matrix.
+      * \returns Number of columns
+      * \details This equals the dimension of the space that the transformation acts on.
+      */
+    Index cols() const { return rows(); }
+
+    /** \brief Essential part of a Householder vector.
+      * \param[in]  k  Index of Householder reflection
+      * \returns    Vector containing non-trivial entries of k-th Householder vector
+      *
+      * This function returns the essential part of the Householder vector \f$ v_i \f$. This is a vector of
+      * length \f$ n-i \f$ containing the last \f$ n-i \f$ entries of the vector
+      * \f[ 
+      * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
+      * \f]
+      * The index \f$ i \f$ equals \p k + shift(), corresponding to the k-th column of the matrix \p v
+      * passed to the constructor.
+      *
+      * \sa setShift(), shift()
+      */
+    const EssentialVectorType essentialVector(Index k) const
+    {
+      eigen_assert(k >= 0 && k < m_length);
+      return internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::essentialVector(*this, k);
+    }
+
+    /** \brief %Transpose of the Householder sequence. */
+    HouseholderSequence transpose() const
+    {
+      return HouseholderSequence(*this).setTrans(!m_trans);
+    }
+
+    /** \brief Complex conjugate of the Householder sequence. */
+    ConjugateReturnType conjugate() const
+    {
+      return ConjugateReturnType(m_vectors, m_coeffs.conjugate())
+             .setTrans(m_trans)
+             .setLength(m_length)
+             .setShift(m_shift);
+    }
+
+    /** \brief Adjoint (conjugate transpose) of the Householder sequence. */
+    ConjugateReturnType adjoint() const
+    {
+      return conjugate().setTrans(!m_trans);
+    }
+
+    /** \brief Inverse of the Householder sequence (equals the adjoint). */
+    ConjugateReturnType inverse() const { return adjoint(); }
+
+    /** \internal */
+    template<typename DestType> void evalTo(DestType& dst) const
+    {
+      Index vecs = m_length;
+      // FIXME find a way to pass this temporary if the user wants to
+      Matrix<Scalar, DestType::RowsAtCompileTime, 1,
+             AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> temp(rows());
+      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,DestType>::value
+          && internal::extract_data(dst) == internal::extract_data(m_vectors))
+      {
+        // in-place
+        dst.diagonal().setOnes();
+        dst.template triangularView<StrictlyUpper>().setZero();
+        for(Index k = vecs-1; k >= 0; --k)
+        {
+          Index cornerSize = rows() - k - m_shift;
+          if(m_trans)
+            dst.bottomRightCorner(cornerSize, cornerSize)
+            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+          else
+            dst.bottomRightCorner(cornerSize, cornerSize)
+              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+
+          // clear the off diagonal vector
+          dst.col(k).tail(rows()-k-1).setZero();
+        }
+        // clear the remaining columns if needed
+        for(Index k = 0; k<cols()-vecs ; ++k)
+          dst.col(k).tail(rows()-k-1).setZero();
+      }
+      else
+      {
+        dst.setIdentity(rows(), rows());
+        for(Index k = vecs-1; k >= 0; --k)
+        {
+          Index cornerSize = rows() - k - m_shift;
+          if(m_trans)
+            dst.bottomRightCorner(cornerSize, cornerSize)
+            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+          else
+            dst.bottomRightCorner(cornerSize, cornerSize)
+              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+        }
+      }
+    }
+
+    /** \internal */
+    template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+    {
+      Matrix<Scalar,1,Dest::RowsAtCompileTime> temp(dst.rows());
+      for(Index k = 0; k < m_length; ++k)
+      {
+        Index actual_k = m_trans ? m_length-k-1 : k;
+        dst.rightCols(rows()-m_shift-actual_k)
+           .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+      }
+    }
+
+    /** \internal */
+    template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+    {
+      Matrix<Scalar,1,Dest::ColsAtCompileTime> temp(dst.cols());
+      for(Index k = 0; k < m_length; ++k)
+      {
+        Index actual_k = m_trans ? k : m_length-k-1;
+        dst.bottomRows(rows()-m_shift-actual_k)
+           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+      }
+    }
+
+    /** \brief Computes the product of a Householder sequence with a matrix.
+      * \param[in]  other  %Matrix being multiplied.
+      * \returns    Expression object representing the product.
+      *
+      * This function computes \f$ HM \f$ where \f$ H \f$ is the Householder sequence represented by \p *this
+      * and \f$ M \f$ is the matrix \p other.
+      */
+    template<typename OtherDerived>
+    typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other) const
+    {
+      typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type
+        res(other.template cast<typename internal::matrix_type_times_scalar_type<Scalar,OtherDerived>::ResultScalar>());
+      applyThisOnTheLeft(res);
+      return res;
+    }
+
+    template<typename _VectorsType, typename _CoeffsType, int _Side> friend struct internal::hseq_side_dependent_impl;
+
+    /** \brief Sets the length of the Householder sequence.
+      * \param [in]  length  New value for the length.
+      *
+      * By default, the length \f$ n \f$ of the Householder sequence \f$ H = H_0 H_1 \ldots H_{n-1} \f$ is set
+      * to the number of columns of the matrix \p v passed to the constructor, or the number of rows if that
+      * is smaller. After this function is called, the length equals \p length.
+      *
+      * \sa length()
+      */
+    HouseholderSequence& setLength(Index length)
+    {
+      m_length = length;
+      return *this;
+    }
+
+    /** \brief Sets the shift of the Householder sequence.
+      * \param [in]  shift  New value for the shift.
+      *
+      * By default, a %HouseholderSequence object represents \f$ H = H_0 H_1 \ldots H_{n-1} \f$ and the i-th
+      * column of the matrix \p v passed to the constructor corresponds to the i-th Householder
+      * reflection. After this function is called, the object represents \f$ H = H_{\mathrm{shift}}
+      * H_{\mathrm{shift}+1} \ldots H_{n-1} \f$ and the i-th column of \p v corresponds to the (shift+i)-th
+      * Householder reflection.
+      *
+      * \sa shift()
+      */
+    HouseholderSequence& setShift(Index shift)
+    {
+      m_shift = shift;
+      return *this;
+    }
+
+    Index length() const { return m_length; }  /**< \brief Returns the length of the Householder sequence. */
+    Index shift() const { return m_shift; }    /**< \brief Returns the shift of the Householder sequence. */
+
+    /* Necessary for .adjoint() and .conjugate() */
+    template <typename VectorsType2, typename CoeffsType2, int Side2> friend class HouseholderSequence;
+
+  protected:
+
+    /** \brief Sets the transpose flag.
+      * \param [in]  trans  New value of the transpose flag.
+      *
+      * By default, the transpose flag is not set. If the transpose flag is set, then this object represents 
+      * \f$ H^T = H_{n-1}^T \ldots H_1^T H_0^T \f$ instead of \f$ H = H_0 H_1 \ldots H_{n-1} \f$.
+      *
+      * \sa trans()
+      */
+    HouseholderSequence& setTrans(bool trans)
+    {
+      m_trans = trans;
+      return *this;
+    }
+
+    bool trans() const { return m_trans; }     /**< \brief Returns the transpose flag. */
+
+    typename VectorsType::Nested m_vectors;
+    typename CoeffsType::Nested m_coeffs;
+    bool m_trans;
+    Index m_length;
+    Index m_shift;
+};
+
+/** \brief Computes the product of a matrix with a Householder sequence.
+  * \param[in]  other  %Matrix being multiplied.
+  * \param[in]  h      %HouseholderSequence being multiplied.
+  * \returns    Expression object representing the product.
+  *
+  * This function computes \f$ MH \f$ where \f$ M \f$ is the matrix \p other and \f$ H \f$ is the
+  * Householder sequence represented by \p h.
+  */
+template<typename OtherDerived, typename VectorsType, typename CoeffsType, int Side>
+typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
+{
+  typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type
+    res(other.template cast<typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::ResultScalar>());
+  h.applyThisOnTheRight(res);
+  return res;
+}
+
+/** \ingroup Householder_Module \householder_module
+  * \brief Convenience function for constructing a Householder sequence. 
+  * \returns A HouseholderSequence constructed from the specified arguments.
+  */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType> householderSequence(const VectorsType& v, const CoeffsType& h)
+{
+  return HouseholderSequence<VectorsType,CoeffsType,OnTheLeft>(v, h);
+}
+
+/** \ingroup Householder_Module \householder_module
+  * \brief Convenience function for constructing a Householder sequence. 
+  * \returns A HouseholderSequence constructed from the specified arguments.
+  * \details This function differs from householderSequence() in that the template argument \p OnTheSide of
+  * the constructed HouseholderSequence is set to OnTheRight, instead of the default OnTheLeft.
+  */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType,OnTheRight> rightHouseholderSequence(const VectorsType& v, const CoeffsType& h)
+{
+  return HouseholderSequence<VectorsType,CoeffsType,OnTheRight>(v, h);
+}
+
+#endif // EIGEN_HOUSEHOLDER_SEQUENCE_H
diff --git a/extern/Eigen3/Eigen/src/Jacobi/Jacobi.h b/extern/Eigen3/Eigen/src/Jacobi/Jacobi.h
new file mode 100644
index 00000000000..98dea6800bc
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Jacobi/Jacobi.h
@@ -0,0 +1,430 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_JACOBI_H
+#define EIGEN_JACOBI_H
+
+/** \ingroup Jacobi_Module
+  * \jacobi_module
+  * \class JacobiRotation
+  * \brief Rotation given by a cosine-sine pair.
+  *
+  * This class represents a Jacobi or Givens rotation.
+  * This is a 2D rotation in the plane \c J of angle \f$ \theta \f$ defined by
+  * its cosine \c c and sine \c s as follow:
+  * \f$ J = \left ( \begin{array}{cc} c & \overline s \\ -s  & \overline c \end{array} \right ) \f$
+  *
+  * You can apply the respective counter-clockwise rotation to a column vector \c v by
+  * applying its adjoint on the left: \f$ v = J^* v \f$ that translates to the following Eigen code:
+  * \code
+  * v.applyOnTheLeft(J.adjoint());
+  * \endcode
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar> class JacobiRotation
+{
+  public:
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** Default constructor without any initialization. */
+    JacobiRotation() {}
+
+    /** Construct a planar rotation from a cosine-sine pair (\a c, \c s). */
+    JacobiRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
+
+    Scalar& c() { return m_c; }
+    Scalar c() const { return m_c; }
+    Scalar& s() { return m_s; }
+    Scalar s() const { return m_s; }
+
+    /** Concatenates two planar rotation */
+    JacobiRotation operator*(const JacobiRotation& other)
+    {
+      return JacobiRotation(m_c * other.m_c - internal::conj(m_s) * other.m_s,
+                            internal::conj(m_c * internal::conj(other.m_s) + internal::conj(m_s) * internal::conj(other.m_c)));
+    }
+
+    /** Returns the transposed transformation */
+    JacobiRotation transpose() const { return JacobiRotation(m_c, -internal::conj(m_s)); }
+
+    /** Returns the adjoint transformation */
+    JacobiRotation adjoint() const { return JacobiRotation(internal::conj(m_c), -m_s); }
+
+    template<typename Derived>
+    bool makeJacobi(const MatrixBase<Derived>&, typename Derived::Index p, typename Derived::Index q);
+    bool makeJacobi(RealScalar x, Scalar y, RealScalar z);
+
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
+
+  protected:
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::true_type);
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::false_type);
+
+    Scalar m_c, m_s;
+};
+
+/** Makes \c *this as a Jacobi rotation \a J such that applying \a J on both the right and left sides of the selfadjoint 2x2 matrix
+  * \f$ B = \left ( \begin{array}{cc} x & y \\ \overline y & z \end{array} \right )\f$ yields a diagonal matrix \f$ A = J^* B J \f$
+  *
+  * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+bool JacobiRotation<Scalar>::makeJacobi(RealScalar x, Scalar y, RealScalar z)
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  if(y == Scalar(0))
+  {
+    m_c = Scalar(1);
+    m_s = Scalar(0);
+    return false;
+  }
+  else
+  {
+    RealScalar tau = (x-z)/(RealScalar(2)*internal::abs(y));
+    RealScalar w = internal::sqrt(internal::abs2(tau) + RealScalar(1));
+    RealScalar t;
+    if(tau>RealScalar(0))
+    {
+      t = RealScalar(1) / (tau + w);
+    }
+    else
+    {
+      t = RealScalar(1) / (tau - w);
+    }
+    RealScalar sign_t = t > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
+    RealScalar n = RealScalar(1) / internal::sqrt(internal::abs2(t)+RealScalar(1));
+    m_s = - sign_t * (internal::conj(y) / internal::abs(y)) * internal::abs(t) * n;
+    m_c = n;
+    return true;
+  }
+}
+
+/** Makes \c *this as a Jacobi rotation \c J such that applying \a J on both the right and left sides of the 2x2 selfadjoint matrix
+  * \f$ B = \left ( \begin{array}{cc} \text{this}_{pp} & \text{this}_{pq} \\ (\text{this}_{pq})^* & \text{this}_{qq} \end{array} \right )\f$ yields
+  * a diagonal matrix \f$ A = J^* B J \f$
+  *
+  * Example: \include Jacobi_makeJacobi.cpp
+  * Output: \verbinclude Jacobi_makeJacobi.out
+  *
+  * \sa JacobiRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+template<typename Derived>
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
+{
+  return makeJacobi(internal::real(m.coeff(p,p)), m.coeff(p,q), internal::real(m.coeff(q,q)));
+}
+
+/** Makes \c *this as a Givens rotation \c G such that applying \f$ G^* \f$ to the left of the vector
+  * \f$ V = \left ( \begin{array}{c} p \\ q \end{array} \right )\f$ yields:
+  * \f$ G^* V = \left ( \begin{array}{c} r \\ 0 \end{array} \right )\f$.
+  *
+  * The value of \a z is returned if \a z is not null (the default is null).
+  * Also note that G is built such that the cosine is always real.
+  *
+  * Example: \include Jacobi_makeGivens.cpp
+  * Output: \verbinclude Jacobi_makeGivens.out
+  *
+  * This function implements the continuous Givens rotation generation algorithm
+  * found in Anderson (2000), Discontinuous Plane Rotations and the Symmetric Eigenvalue Problem.
+  * LAPACK Working Note 150, University of Tennessee, UT-CS-00-454, December 4, 2000.
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
+{
+  makeGivens(p, q, z, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
+}
+
+
+// specialization for complexes
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type)
+{
+  if(q==Scalar(0))
+  {
+    m_c = internal::real(p)<0 ? Scalar(-1) : Scalar(1);
+    m_s = 0;
+    if(r) *r = m_c * p;
+  }
+  else if(p==Scalar(0))
+  {
+    m_c = 0;
+    m_s = -q/internal::abs(q);
+    if(r) *r = internal::abs(q);
+  }
+  else
+  {
+    RealScalar p1 = internal::norm1(p);
+    RealScalar q1 = internal::norm1(q);
+    if(p1>=q1)
+    {
+      Scalar ps = p / p1;
+      RealScalar p2 = internal::abs2(ps);
+      Scalar qs = q / p1;
+      RealScalar q2 = internal::abs2(qs);
+
+      RealScalar u = internal::sqrt(RealScalar(1) + q2/p2);
+      if(internal::real(p)<RealScalar(0))
+        u = -u;
+
+      m_c = Scalar(1)/u;
+      m_s = -qs*internal::conj(ps)*(m_c/p2);
+      if(r) *r = p * u;
+    }
+    else
+    {
+      Scalar ps = p / q1;
+      RealScalar p2 = internal::abs2(ps);
+      Scalar qs = q / q1;
+      RealScalar q2 = internal::abs2(qs);
+
+      RealScalar u = q1 * internal::sqrt(p2 + q2);
+      if(internal::real(p)<RealScalar(0))
+        u = -u;
+
+      p1 = internal::abs(p);
+      ps = p/p1;
+      m_c = p1/u;
+      m_s = -internal::conj(ps) * (q/u);
+      if(r) *r = ps * u;
+    }
+  }
+}
+
+// specialization for reals
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type)
+{
+
+  if(q==Scalar(0))
+  {
+    m_c = p<Scalar(0) ? Scalar(-1) : Scalar(1);
+    m_s = Scalar(0);
+    if(r) *r = internal::abs(p);
+  }
+  else if(p==Scalar(0))
+  {
+    m_c = Scalar(0);
+    m_s = q<Scalar(0) ? Scalar(1) : Scalar(-1);
+    if(r) *r = internal::abs(q);
+  }
+  else if(internal::abs(p) > internal::abs(q))
+  {
+    Scalar t = q/p;
+    Scalar u = internal::sqrt(Scalar(1) + internal::abs2(t));
+    if(p<Scalar(0))
+      u = -u;
+    m_c = Scalar(1)/u;
+    m_s = -t * m_c;
+    if(r) *r = p * u;
+  }
+  else
+  {
+    Scalar t = p/q;
+    Scalar u = internal::sqrt(Scalar(1) + internal::abs2(t));
+    if(q<Scalar(0))
+      u = -u;
+    m_s = -Scalar(1)/u;
+    m_c = -t * m_s;
+    if(r) *r = q * u;
+  }
+
+}
+
+/****************************************************************************************
+*   Implementation of MatrixBase methods
+****************************************************************************************/
+
+/** \jacobi_module
+  * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
+  * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right )  =  J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+namespace internal {
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j);
+}
+
+/** \jacobi_module
+  * Applies the rotation in the plane \a j to the rows \a p and \a q of \c *this, i.e., it computes B = J * B,
+  * with \f$ B = \left ( \begin{array}{cc} \text{*this.row}(p) \\ \text{*this.row}(q) \end{array} \right ) \f$.
+  *
+  * \sa class JacobiRotation, MatrixBase::applyOnTheRight(), internal::apply_rotation_in_the_plane()
+  */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+  RowXpr x(this->row(p));
+  RowXpr y(this->row(q));
+  internal::apply_rotation_in_the_plane(x, y, j);
+}
+
+/** \ingroup Jacobi_Module
+  * Applies the rotation in the plane \a j to the columns \a p and \a q of \c *this, i.e., it computes B = B * J
+  * with \f$ B = \left ( \begin{array}{cc} \text{*this.col}(p) & \text{*this.col}(q) \end{array} \right ) \f$.
+  *
+  * \sa class JacobiRotation, MatrixBase::applyOnTheLeft(), internal::apply_rotation_in_the_plane()
+  */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+  ColXpr x(this->col(p));
+  ColXpr y(this->col(q));
+  internal::apply_rotation_in_the_plane(x, y, j.transpose());
+}
+
+namespace internal {
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j)
+{
+  typedef typename VectorX::Index Index;
+  typedef typename VectorX::Scalar Scalar;
+  enum { PacketSize = packet_traits<Scalar>::size };
+  typedef typename packet_traits<Scalar>::type Packet;
+  eigen_assert(_x.size() == _y.size());
+  Index size = _x.size();
+  Index incrx = _x.innerStride();
+  Index incry = _y.innerStride();
+
+  Scalar* EIGEN_RESTRICT x = &_x.coeffRef(0);
+  Scalar* EIGEN_RESTRICT y = &_y.coeffRef(0);
+
+  /*** dynamic-size vectorized paths ***/
+
+  if(VectorX::SizeAtCompileTime == Dynamic &&
+    (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
+    ((incrx==1 && incry==1) || PacketSize == 1))
+  {
+    // both vectors are sequentially stored in memory => vectorization
+    enum { Peeling = 2 };
+
+    Index alignedStart = first_aligned(y, size);
+    Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
+
+    const Packet pc = pset1<Packet>(j.c());
+    const Packet ps = pset1<Packet>(j.s());
+    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+
+    for(Index i=0; i<alignedStart; ++i)
+    {
+      Scalar xi = x[i];
+      Scalar yi = y[i];
+      x[i] =  j.c() * xi + conj(j.s()) * yi;
+      y[i] = -j.s() * xi + conj(j.c()) * yi;
+    }
+
+    Scalar* EIGEN_RESTRICT px = x + alignedStart;
+    Scalar* EIGEN_RESTRICT py = y + alignedStart;
+
+    if(first_aligned(x, size)==alignedStart)
+    {
+      for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
+      {
+        Packet xi = pload<Packet>(px);
+        Packet yi = pload<Packet>(py);
+        pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        px += PacketSize;
+        py += PacketSize;
+      }
+    }
+    else
+    {
+      Index peelingEnd = alignedStart + ((size-alignedStart)/(Peeling*PacketSize))*(Peeling*PacketSize);
+      for(Index i=alignedStart; i<peelingEnd; i+=Peeling*PacketSize)
+      {
+        Packet xi   = ploadu<Packet>(px);
+        Packet xi1  = ploadu<Packet>(px+PacketSize);
+        Packet yi   = pload <Packet>(py);
+        Packet yi1  = pload <Packet>(py+PacketSize);
+        pstoreu(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstoreu(px+PacketSize, padd(pmul(pc,xi1),pcj.pmul(ps,yi1)));
+        pstore (py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pmul(ps,xi1)));
+        px += Peeling*PacketSize;
+        py += Peeling*PacketSize;
+      }
+      if(alignedEnd!=peelingEnd)
+      {
+        Packet xi = ploadu<Packet>(x+peelingEnd);
+        Packet yi = pload <Packet>(y+peelingEnd);
+        pstoreu(x+peelingEnd, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+      }
+    }
+
+    for(Index i=alignedEnd; i<size; ++i)
+    {
+      Scalar xi = x[i];
+      Scalar yi = y[i];
+      x[i] =  j.c() * xi + conj(j.s()) * yi;
+      y[i] = -j.s() * xi + conj(j.c()) * yi;
+    }
+  }
+
+  /*** fixed-size vectorized path ***/
+  else if(VectorX::SizeAtCompileTime != Dynamic &&
+          (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
+          (VectorX::Flags & VectorY::Flags & AlignedBit))
+  {
+    const Packet pc = pset1<Packet>(j.c());
+    const Packet ps = pset1<Packet>(j.s());
+    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+    Scalar* EIGEN_RESTRICT px = x;
+    Scalar* EIGEN_RESTRICT py = y;
+    for(Index i=0; i<size; i+=PacketSize)
+    {
+      Packet xi = pload<Packet>(px);
+      Packet yi = pload<Packet>(py);
+      pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+      pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+      px += PacketSize;
+      py += PacketSize;
+    }
+  }
+
+  /*** non-vectorized path ***/
+  else
+  {
+    for(Index i=0; i<size; ++i)
+    {
+      Scalar xi = *x;
+      Scalar yi = *y;
+      *x =  j.c() * xi + conj(j.s()) * yi;
+      *y = -j.s() * xi + conj(j.c()) * yi;
+      x += incrx;
+      y += incry;
+    }
+  }
+}
+}
+
+#endif // EIGEN_JACOBI_H
diff --git a/extern/Eigen2/Eigen/src/LU/Determinant.h b/extern/Eigen3/Eigen/src/LU/Determinant.h
index 4f435054ac6..b4fe36eb061 100644
--- a/extern/Eigen2/Eigen/src/LU/Determinant.h
+++ b/extern/Eigen3/Eigen/src/LU/Determinant.h
@@ -1,5 +1,5 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
@@ -25,8 +25,10 @@
 #ifndef EIGEN_DETERMINANT_H
 #define EIGEN_DETERMINANT_H
 
+namespace internal {
+
 template<typename Derived>
-inline const typename Derived::Scalar ei_bruteforce_det3_helper
+inline const typename Derived::Scalar bruteforce_det3_helper
 (const MatrixBase<Derived>& matrix, int a, int b, int c)
 {
   return matrix.coeff(0,a)
@@ -34,89 +36,77 @@ inline const typename Derived::Scalar ei_bruteforce_det3_helper
 }
 
 template<typename Derived>
-const typename Derived::Scalar ei_bruteforce_det4_helper
+const typename Derived::Scalar bruteforce_det4_helper
 (const MatrixBase<Derived>& matrix, int j, int k, int m, int n)
 {
   return (matrix.coeff(j,0) * matrix.coeff(k,1) - matrix.coeff(k,0) * matrix.coeff(j,1))
        * (matrix.coeff(m,2) * matrix.coeff(n,3) - matrix.coeff(n,2) * matrix.coeff(m,3));
 }
 
-const int TriangularDeterminant = 0;
-
 template<typename Derived,
-         int DeterminantType =
-           (Derived::Flags & (UpperTriangularBit | LowerTriangularBit))
-           ? TriangularDeterminant : Derived::RowsAtCompileTime
-> struct ei_determinant_impl
-{
-  static inline typename ei_traits<Derived>::Scalar run(const Derived& m)
-  {
-    return m.lu().determinant();
-  }
-};
-
-template<typename Derived> struct ei_determinant_impl<Derived, TriangularDeterminant>
+         int DeterminantType = Derived::RowsAtCompileTime
+> struct determinant_impl
 {
-  static inline typename ei_traits<Derived>::Scalar run(const Derived& m)
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
   {
-    if (Derived::Flags & UnitDiagBit)
-      return 1;
-    else if (Derived::Flags & ZeroDiagBit)
-      return 0;
-    else
-      return m.diagonal().redux(ei_scalar_product_op<typename ei_traits<Derived>::Scalar>());
+    if(Derived::ColsAtCompileTime==Dynamic && m.rows()==0)
+      return typename traits<Derived>::Scalar(1);
+    return m.partialPivLu().determinant();
   }
 };
 
-template<typename Derived> struct ei_determinant_impl<Derived, 1>
+template<typename Derived> struct determinant_impl<Derived, 1>
 {
-  static inline typename ei_traits<Derived>::Scalar run(const Derived& m)
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
   {
     return m.coeff(0,0);
   }
 };
 
-template<typename Derived> struct ei_determinant_impl<Derived, 2>
+template<typename Derived> struct determinant_impl<Derived, 2>
 {
-  static inline typename ei_traits<Derived>::Scalar run(const Derived& m)
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
   {
     return m.coeff(0,0) * m.coeff(1,1) - m.coeff(1,0) * m.coeff(0,1);
   }
 };
 
-template<typename Derived> struct ei_determinant_impl<Derived, 3>
+template<typename Derived> struct determinant_impl<Derived, 3>
 {
-  static typename ei_traits<Derived>::Scalar run(const Derived& m)
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
   {
-    return ei_bruteforce_det3_helper(m,0,1,2)
-          - ei_bruteforce_det3_helper(m,1,0,2)
-          + ei_bruteforce_det3_helper(m,2,0,1);
+    return bruteforce_det3_helper(m,0,1,2)
+          - bruteforce_det3_helper(m,1,0,2)
+          + bruteforce_det3_helper(m,2,0,1);
   }
 };
 
-template<typename Derived> struct ei_determinant_impl<Derived, 4>
+template<typename Derived> struct determinant_impl<Derived, 4>
 {
-  static typename ei_traits<Derived>::Scalar run(const Derived& m)
+  static typename traits<Derived>::Scalar run(const Derived& m)
   {
     // trick by Martin Costabel to compute 4x4 det with only 30 muls
-    return ei_bruteforce_det4_helper(m,0,1,2,3)
-          - ei_bruteforce_det4_helper(m,0,2,1,3)
-          + ei_bruteforce_det4_helper(m,0,3,1,2)
-          + ei_bruteforce_det4_helper(m,1,2,0,3)
-          - ei_bruteforce_det4_helper(m,1,3,0,2)
-          + ei_bruteforce_det4_helper(m,2,3,0,1);
+    return bruteforce_det4_helper(m,0,1,2,3)
+          - bruteforce_det4_helper(m,0,2,1,3)
+          + bruteforce_det4_helper(m,0,3,1,2)
+          + bruteforce_det4_helper(m,1,2,0,3)
+          - bruteforce_det4_helper(m,1,3,0,2)
+          + bruteforce_det4_helper(m,2,3,0,1);
   }
 };
 
+} // end namespace internal
+
 /** \lu_module
   *
   * \returns the determinant of this matrix
   */
 template<typename Derived>
-inline typename ei_traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
+inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
 {
   assert(rows() == cols());
-  return ei_determinant_impl<Derived>::run(derived());
+  typedef typename internal::nested<Derived,Base::RowsAtCompileTime>::type Nested;
+  return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
 }
 
 #endif // EIGEN_DETERMINANT_H
diff --git a/extern/Eigen3/Eigen/src/LU/FullPivLU.h b/extern/Eigen3/Eigen/src/LU/FullPivLU.h
new file mode 100644
index 00000000000..633fb23fdbe
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/LU/FullPivLU.h
@@ -0,0 +1,754 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LU_H
+#define EIGEN_LU_H
+
+/** \ingroup LU_Module
+  *
+  * \class FullPivLU
+  *
+  * \brief LU decomposition of a matrix with complete pivoting, and related features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  *
+  * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A
+  * is decomposed as A = PLUQ where L is unit-lower-triangular, U is upper-triangular, and P and Q
+  * are permutation matrices. This is a rank-revealing LU decomposition. The eigenvalues (diagonal
+  * coefficients) of U are sorted in such a way that any zeros are at the end.
+  *
+  * This decomposition provides the generic approach to solving systems of linear equations, computing
+  * the rank, invertibility, inverse, kernel, and determinant.
+  *
+  * This LU decomposition is very stable and well tested with large matrices. However there are use cases where the SVD
+  * decomposition is inherently more stable and/or flexible. For example, when computing the kernel of a matrix,
+  * working with the SVD allows to select the smallest singular values of the matrix, something that
+  * the LU decomposition doesn't see.
+  *
+  * The data of the LU decomposition can be directly accessed through the methods matrixLU(),
+  * permutationP(), permutationQ().
+  *
+  * As an exemple, here is how the original matrix can be retrieved:
+  * \include class_FullPivLU.cpp
+  * Output: \verbinclude class_FullPivLU.out
+  *
+  * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
+  */
+template<typename _MatrixType> class FullPivLU
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
+    typedef typename MatrixType::Index Index;
+    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
+    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
+
+    /**
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LU::compute(const MatrixType&).
+      */
+    FullPivLU();
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa FullPivLU()
+      */
+    FullPivLU(Index rows, Index cols);
+
+    /** Constructor.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *               It is required to be nonzero.
+      */
+    FullPivLU(const MatrixType& matrix);
+
+    /** Computes the LU decomposition of the given matrix.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *               It is required to be nonzero.
+      *
+      * \returns a reference to *this
+      */
+    FullPivLU& compute(const MatrixType& matrix);
+
+    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+      * unit-lower-triangular part is L (at least for square matrices; in the non-square
+      * case, special care is needed, see the documentation of class FullPivLU).
+      *
+      * \sa matrixL(), matrixU()
+      */
+    inline const MatrixType& matrixLU() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_lu;
+    }
+
+    /** \returns the number of nonzero pivots in the LU decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of U.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+    /** \returns the permutation matrix P
+      *
+      * \sa permutationQ()
+      */
+    inline const PermutationPType& permutationP() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_p;
+    }
+
+    /** \returns the permutation matrix Q
+      *
+      * \sa permutationP()
+      */
+    inline const PermutationQType& permutationQ() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_q;
+    }
+
+    /** \returns the kernel of the matrix, also called its null-space. The columns of the returned matrix
+      * will form a basis of the kernel.
+      *
+      * \note If the kernel has dimension zero, then the returned matrix is a column-vector filled with zeros.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      *
+      * Example: \include FullPivLU_kernel.cpp
+      * Output: \verbinclude FullPivLU_kernel.out
+      *
+      * \sa image()
+      */
+    inline const internal::kernel_retval<FullPivLU> kernel() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::kernel_retval<FullPivLU>(*this);
+    }
+
+    /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
+      * will form a basis of the kernel.
+      *
+      * \param originalMatrix the original matrix, of which *this is the LU decomposition.
+      *                       The reason why it is needed to pass it here, is that this allows
+      *                       a large optimization, as otherwise this method would need to reconstruct it
+      *                       from the LU decomposition.
+      *
+      * \note If the image has dimension zero, then the returned matrix is a column-vector filled with zeros.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      *
+      * Example: \include FullPivLU_image.cpp
+      * Output: \verbinclude FullPivLU_image.out
+      *
+      * \sa kernel()
+      */
+    inline const internal::image_retval<FullPivLU>
+      image(const MatrixType& originalMatrix) const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::image_retval<FullPivLU>(*this, originalMatrix);
+    }
+
+    /** \return a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the LU decomposition.
+      *
+      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+      *          the only requirement in order for the equation to make sense is that
+      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+      *
+      * \returns a solution.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      * \note_about_using_kernel_to_study_multiple_solutions
+      *
+      * Example: \include FullPivLU_solve.cpp
+      * Output: \verbinclude FullPivLU_solve.out
+      *
+      * \sa TriangularView::solve(), kernel(), inverse()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<FullPivLU, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::solve_retval<FullPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the determinant of the matrix of which
+      * *this is the LU decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the LU decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+      *       optimized paths.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      *
+      * \sa MatrixBase::determinant()
+      */
+    typename internal::traits<MatrixType>::Scalar determinant() const;
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * LU decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    FullPivLU& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code lu.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    FullPivLU& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_lu.diagonalSize();
+    }
+
+    /** \returns the rank of the matrix of which *this is the LU decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_lu.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the LU decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return isInjective() && (m_lu.rows() == m_lu.cols());
+    }
+
+    /** \returns the inverse of the matrix of which *this is the LU decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      *
+      * \sa MatrixBase::inverse()
+      */
+    inline const internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
+      return internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_lu.rows(); }
+    inline Index cols() const { return m_lu.cols(); }
+
+  protected:
+    MatrixType m_lu;
+    PermutationPType m_p;
+    PermutationQType m_q;
+    IntColVectorType m_rowsTranspositions;
+    IntRowVectorType m_colsTranspositions;
+    Index m_det_pq, m_nonzero_pivots;
+    RealScalar m_maxpivot, m_prescribedThreshold;
+    bool m_isInitialized, m_usePrescribedThreshold;
+};
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU()
+  : m_isInitialized(false), m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
+  : m_lu(rows, cols),
+    m_p(rows),
+    m_q(cols),
+    m_rowsTranspositions(rows),
+    m_colsTranspositions(cols),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
+  : m_lu(matrix.rows(), matrix.cols()),
+    m_p(matrix.rows()),
+    m_q(matrix.cols()),
+    m_rowsTranspositions(matrix.rows()),
+    m_colsTranspositions(matrix.cols()),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+  compute(matrix);
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
+{
+  m_isInitialized = true;
+  m_lu = matrix;
+
+  const Index size = matrix.diagonalSize();
+  const Index rows = matrix.rows();
+  const Index cols = matrix.cols();
+
+  // will store the transpositions, before we accumulate them at the end.
+  // can't accumulate on-the-fly because that will be done in reverse order for the rows.
+  m_rowsTranspositions.resize(matrix.rows());
+  m_colsTranspositions.resize(matrix.cols());
+  Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+  RealScalar cutoff(0);
+
+  for(Index k = 0; k < size; ++k)
+  {
+    // First, we need to find the pivot.
+
+    // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
+    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+    RealScalar biggest_in_corner;
+    biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
+                        .cwiseAbs()
+                        .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
+    col_of_biggest_in_corner += k; // need to add k to them.
+
+    // when k==0, biggest_in_corner is the biggest coeff absolute value in the original matrix
+    if(k == 0) cutoff = biggest_in_corner * NumTraits<Scalar>::epsilon();
+
+    // if the pivot (hence the corner) is "zero", terminate to avoid generating nan/inf values.
+    // Notice that using an exact comparison (biggest_in_corner==0) here, as Golub-van Loan do in
+    // their pseudo-code, results in numerical instability! The cutoff here has been validated
+    // by running the unit test 'lu' with many repetitions.
+    if(biggest_in_corner < cutoff)
+    {
+      // before exiting, make sure to initialize the still uninitialized transpositions
+      // in a sane state without destroying what we already have.
+      m_nonzero_pivots = k;
+      for(Index i = k; i < size; ++i)
+      {
+        m_rowsTranspositions.coeffRef(i) = i;
+        m_colsTranspositions.coeffRef(i) = i;
+      }
+      break;
+    }
+
+    if(biggest_in_corner > m_maxpivot) m_maxpivot = biggest_in_corner;
+
+    // Now that we've found the pivot, we need to apply the row/col swaps to
+    // bring it to the location (k,k).
+
+    m_rowsTranspositions.coeffRef(k) = row_of_biggest_in_corner;
+    m_colsTranspositions.coeffRef(k) = col_of_biggest_in_corner;
+    if(k != row_of_biggest_in_corner) {
+      m_lu.row(k).swap(m_lu.row(row_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+    if(k != col_of_biggest_in_corner) {
+      m_lu.col(k).swap(m_lu.col(col_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+
+    // Now that the pivot is at the right location, we update the remaining
+    // bottom-right corner by Gaussian elimination.
+
+    if(k<rows-1)
+      m_lu.col(k).tail(rows-k-1) /= m_lu.coeff(k,k);
+    if(k<size-1)
+      m_lu.block(k+1,k+1,rows-k-1,cols-k-1).noalias() -= m_lu.col(k).tail(rows-k-1) * m_lu.row(k).tail(cols-k-1);
+  }
+
+  // the main loop is over, we still have to accumulate the transpositions to find the
+  // permutations P and Q
+
+  m_p.setIdentity(rows);
+  for(Index k = size-1; k >= 0; --k)
+    m_p.applyTranspositionOnTheRight(k, m_rowsTranspositions.coeff(k));
+
+  m_q.setIdentity(cols);
+  for(Index k = 0; k < size; ++k)
+    m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  return *this;
+}
+
+template<typename MatrixType>
+typename internal::traits<MatrixType>::Scalar FullPivLU<MatrixType>::determinant() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the determinant of a non-square matrix!");
+  return Scalar(m_det_pq) * Scalar(m_lu.diagonal().prod());
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^{-1} L U Q^{-1}.
+ * This function is provided for debug purpose. */
+template<typename MatrixType>
+MatrixType FullPivLU<MatrixType>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  const Index smalldim = (std::min)(m_lu.rows(), m_lu.cols());
+  // LU
+  MatrixType res(m_lu.rows(),m_lu.cols());
+  // FIXME the .toDenseMatrix() should not be needed...
+  res = m_lu.leftCols(smalldim)
+            .template triangularView<UnitLower>().toDenseMatrix()
+      * m_lu.topRows(smalldim)
+            .template triangularView<Upper>().toDenseMatrix();
+
+  // P^{-1}(LU)
+  res = m_p.inverse() * res;
+
+  // (P^{-1}LU)Q^{-1}
+  res = res * m_q.inverse();
+
+  return res;
+}
+
+/********* Implementation of kernel() **************************************************/
+
+namespace internal {
+template<typename _MatrixType>
+struct kernel_retval<FullPivLU<_MatrixType> >
+  : kernel_retval_base<FullPivLU<_MatrixType> >
+{
+  EIGEN_MAKE_KERNEL_HELPERS(FullPivLU<_MatrixType>)
+
+  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+            MatrixType::MaxColsAtCompileTime,
+            MatrixType::MaxRowsAtCompileTime)
+  };
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index cols = dec().matrixLU().cols(), dimker = cols - rank();
+    if(dimker == 0)
+    {
+      // The Kernel is just {0}, so it doesn't have a basis properly speaking, but let's
+      // avoid crashing/asserting as that depends on floating point calculations. Let's
+      // just return a single column vector filled with zeros.
+      dst.setZero();
+      return;
+    }
+
+    /* Let us use the following lemma:
+      *
+      * Lemma: If the matrix A has the LU decomposition PAQ = LU,
+      * then Ker A = Q(Ker U).
+      *
+      * Proof: trivial: just keep in mind that P, Q, L are invertible.
+      */
+
+    /* Thus, all we need to do is to compute Ker U, and then apply Q.
+      *
+      * U is upper triangular, with eigenvalues sorted so that any zeros appear at the end.
+      * Thus, the diagonal of U ends with exactly
+      * dimKer zero's. Let us use that to construct dimKer linearly
+      * independent vectors in Ker U.
+      */
+
+    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+    Index p = 0;
+    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+        pivots.coeffRef(p++) = i;
+    eigen_internal_assert(p == rank());
+
+    // we construct a temporaty trapezoid matrix m, by taking the U matrix and
+    // permuting the rows and cols to bring the nonnegligible pivots to the top of
+    // the main diagonal. We need that to be able to apply our triangular solvers.
+    // FIXME when we get triangularView-for-rectangular-matrices, this can be simplified
+    Matrix<typename MatrixType::Scalar, Dynamic, Dynamic, MatrixType::Options,
+           MaxSmallDimAtCompileTime, MatrixType::MaxColsAtCompileTime>
+      m(dec().matrixLU().block(0, 0, rank(), cols));
+    for(Index i = 0; i < rank(); ++i)
+    {
+      if(i) m.row(i).head(i).setZero();
+      m.row(i).tail(cols-i) = dec().matrixLU().row(pivots.coeff(i)).tail(cols-i);
+    }
+    m.block(0, 0, rank(), rank());
+    m.block(0, 0, rank(), rank()).template triangularView<StrictlyLower>().setZero();
+    for(Index i = 0; i < rank(); ++i)
+      m.col(i).swap(m.col(pivots.coeff(i)));
+
+    // ok, we have our trapezoid matrix, we can apply the triangular solver.
+    // notice that the math behind this suggests that we should apply this to the
+    // negative of the RHS, but for performance we just put the negative sign elsewhere, see below.
+    m.topLeftCorner(rank(), rank())
+     .template triangularView<Upper>().solveInPlace(
+        m.topRightCorner(rank(), dimker)
+      );
+
+    // now we must undo the column permutation that we had applied!
+    for(Index i = rank()-1; i >= 0; --i)
+      m.col(i).swap(m.col(pivots.coeff(i)));
+
+    // see the negative sign in the next line, that's what we were talking about above.
+    for(Index i = 0; i < rank(); ++i) dst.row(dec().permutationQ().indices().coeff(i)) = -m.row(i).tail(dimker);
+    for(Index i = rank(); i < cols; ++i) dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+    for(Index k = 0; k < dimker; ++k) dst.coeffRef(dec().permutationQ().indices().coeff(rank()+k), k) = Scalar(1);
+  }
+};
+
+/***** Implementation of image() *****************************************************/
+
+template<typename _MatrixType>
+struct image_retval<FullPivLU<_MatrixType> >
+  : image_retval_base<FullPivLU<_MatrixType> >
+{
+  EIGEN_MAKE_IMAGE_HELPERS(FullPivLU<_MatrixType>)
+
+  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+            MatrixType::MaxColsAtCompileTime,
+            MatrixType::MaxRowsAtCompileTime)
+  };
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    if(rank() == 0)
+    {
+      // The Image is just {0}, so it doesn't have a basis properly speaking, but let's
+      // avoid crashing/asserting as that depends on floating point calculations. Let's
+      // just return a single column vector filled with zeros.
+      dst.setZero();
+      return;
+    }
+
+    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+    Index p = 0;
+    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+        pivots.coeffRef(p++) = i;
+    eigen_internal_assert(p == rank());
+
+    for(Index i = 0; i < rank(); ++i)
+      dst.col(i) = originalMatrix().col(dec().permutationQ().indices().coeff(pivots.coeff(i)));
+  }
+};
+
+/***** Implementation of solve() *****************************************************/
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<FullPivLU<_MatrixType>, Rhs>
+  : solve_retval_base<FullPivLU<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(FullPivLU<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
+     * So we proceed as follows:
+     * Step 1: compute c = P * rhs.
+     * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
+     * Step 3: replace c by the solution x to Ux = c. May or may not exist.
+     * Step 4: result = Q * c;
+     */
+
+    const Index rows = dec().rows(), cols = dec().cols(),
+              nonzero_pivots = dec().nonzeroPivots();
+    eigen_assert(rhs().rows() == rows);
+    const Index smalldim = (std::min)(rows, cols);
+
+    if(nonzero_pivots == 0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs().rows(), rhs().cols());
+
+    // Step 1
+    c = dec().permutationP() * rhs();
+
+    // Step 2
+    dec().matrixLU()
+        .topLeftCorner(smalldim,smalldim)
+        .template triangularView<UnitLower>()
+        .solveInPlace(c.topRows(smalldim));
+    if(rows>cols)
+    {
+      c.bottomRows(rows-cols)
+        -= dec().matrixLU().bottomRows(rows-cols)
+         * c.topRows(cols);
+    }
+
+    // Step 3
+    dec().matrixLU()
+        .topLeftCorner(nonzero_pivots, nonzero_pivots)
+        .template triangularView<Upper>()
+        .solveInPlace(c.topRows(nonzero_pivots));
+
+    // Step 4
+    for(Index i = 0; i < nonzero_pivots; ++i)
+      dst.row(dec().permutationQ().indices().coeff(i)) = c.row(i);
+    for(Index i = nonzero_pivots; i < dec().matrixLU().cols(); ++i)
+      dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/******* MatrixBase methods *****************************************************************/
+
+/** \lu_module
+  *
+  * \return the full-pivoting LU decomposition of \c *this.
+  *
+  * \sa class FullPivLU
+  */
+template<typename Derived>
+inline const FullPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivLu() const
+{
+  return FullPivLU<PlainObject>(eval());
+}
+
+#endif // EIGEN_LU_H
diff --git a/extern/Eigen3/Eigen/src/LU/Inverse.h b/extern/Eigen3/Eigen/src/LU/Inverse.h
new file mode 100644
index 00000000000..2d3e6d10529
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/LU/Inverse.h
@@ -0,0 +1,407 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_INVERSE_H
+#define EIGEN_INVERSE_H
+
+namespace internal {
+
+/**********************************
+*** General case implementation ***
+**********************************/
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    result = matrix.partialPivLu().inverse();
+  }
+};
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse_and_det_with_check { /* nothing! general case not supported. */ };
+
+/****************************
+*** Size 1 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 1>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    result.coeffRef(0,0) = Scalar(1) / matrix.coeff(0,0);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& result,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    determinant = matrix.coeff(0,0);
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) result.coeffRef(0,0) = typename ResultType::Scalar(1) / determinant;
+  }
+};
+
+/****************************
+*** Size 2 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+inline void compute_inverse_size2_helper(
+    const MatrixType& matrix, const typename ResultType::Scalar& invdet,
+    ResultType& result)
+{
+  result.coeffRef(0,0) = matrix.coeff(1,1) * invdet;
+  result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
+  result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
+  result.coeffRef(1,1) = matrix.coeff(0,0) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 2>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    const Scalar invdet = typename MatrixType::Scalar(1) / matrix.determinant();
+    compute_inverse_size2_helper(matrix, invdet, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    typedef typename ResultType::Scalar Scalar;
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size2_helper(matrix, invdet, inverse);
+  }
+};
+
+/****************************
+*** Size 3 implementation ***
+****************************/
+
+template<typename MatrixType, int i, int j>
+inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
+{
+  enum {
+    i1 = (i+1) % 3,
+    i2 = (i+2) % 3,
+    j1 = (j+1) % 3,
+    j2 = (j+2) % 3
+  };
+  return m.coeff(i1, j1) * m.coeff(i2, j2)
+       - m.coeff(i1, j2) * m.coeff(i2, j1);
+}
+
+template<typename MatrixType, typename ResultType>
+inline void compute_inverse_size3_helper(
+    const MatrixType& matrix,
+    const typename ResultType::Scalar& invdet,
+    const Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,
+    ResultType& result)
+{
+  result.row(0) = cofactors_col0 * invdet;
+  result.coeffRef(1,0) =  cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
+  result.coeffRef(1,1) =  cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
+  result.coeffRef(1,2) =  cofactor_3x3<MatrixType,2,1>(matrix) * invdet;
+  result.coeffRef(2,0) =  cofactor_3x3<MatrixType,0,2>(matrix) * invdet;
+  result.coeffRef(2,1) =  cofactor_3x3<MatrixType,1,2>(matrix) * invdet;
+  result.coeffRef(2,2) =  cofactor_3x3<MatrixType,2,2>(matrix) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 3>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    const Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    const Scalar invdet = Scalar(1) / det;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
+  }
+};
+
+/****************************
+*** Size 4 implementation ***
+****************************/
+
+template<typename Derived>
+inline const typename Derived::Scalar general_det3_helper
+(const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
+{
+  return matrix.coeff(i1,j1)
+         * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));
+}
+
+template<typename MatrixType, int i, int j>
+inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
+{
+  enum {
+    i1 = (i+1) % 4,
+    i2 = (i+2) % 4,
+    i3 = (i+3) % 4,
+    j1 = (j+1) % 4,
+    j2 = (j+2) % 4,
+    j3 = (j+3) % 4
+  };
+  return general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)
+       + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)
+       + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);
+}
+
+template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
+struct compute_inverse_size4
+{
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    result.coeffRef(0,0) =  cofactor_4x4<MatrixType,0,0>(matrix);
+    result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);
+    result.coeffRef(2,0) =  cofactor_4x4<MatrixType,0,2>(matrix);
+    result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);
+    result.coeffRef(0,2) =  cofactor_4x4<MatrixType,2,0>(matrix);
+    result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);
+    result.coeffRef(2,2) =  cofactor_4x4<MatrixType,2,2>(matrix);
+    result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);
+    result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);
+    result.coeffRef(1,1) =  cofactor_4x4<MatrixType,1,1>(matrix);
+    result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);
+    result.coeffRef(3,1) =  cofactor_4x4<MatrixType,1,3>(matrix);
+    result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);
+    result.coeffRef(1,3) =  cofactor_4x4<MatrixType,3,1>(matrix);
+    result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);
+    result.coeffRef(3,3) =  cofactor_4x4<MatrixType,3,3>(matrix);
+    result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 4>
+ : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
+                            MatrixType, ResultType>
+{
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+  }
+};
+
+/*************************
+*** MatrixBase methods ***
+*************************/
+
+template<typename MatrixType>
+struct traits<inverse_impl<MatrixType> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename MatrixType>
+struct inverse_impl : public ReturnByValue<inverse_impl<MatrixType> >
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename internal::eval<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  const MatrixTypeNested m_matrix;
+
+  inverse_impl(const MatrixType& matrix)
+    : m_matrix(matrix)
+  {}
+
+  inline Index rows() const { return m_matrix.rows(); }
+  inline Index cols() const { return m_matrix.cols(); }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    const int Size = EIGEN_PLAIN_ENUM_MIN(MatrixType::ColsAtCompileTime,Dest::ColsAtCompileTime);
+    EIGEN_ONLY_USED_FOR_DEBUG(Size);
+    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(m_matrix)!=extract_data(dst)))
+              && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
+
+    compute_inverse<MatrixTypeNestedCleaned, Dest>::run(m_matrix, dst);
+  }
+};
+
+} // end namespace internal
+
+/** \lu_module
+  *
+  * \returns the matrix inverse of this matrix.
+  *
+  * For small fixed sizes up to 4x4, this method uses cofactors.
+  * In the general case, this method uses class PartialPivLU.
+  *
+  * \note This matrix must be invertible, otherwise the result is undefined. If you need an
+  * invertibility check, do the following:
+  * \li for fixed sizes up to 4x4, use computeInverseAndDetWithCheck().
+  * \li for the general case, use class FullPivLU.
+  *
+  * Example: \include MatrixBase_inverse.cpp
+  * Output: \verbinclude MatrixBase_inverse.out
+  *
+  * \sa computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+inline const internal::inverse_impl<Derived> MatrixBase<Derived>::inverse() const
+{
+  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+  eigen_assert(rows() == cols());
+  return internal::inverse_impl<Derived>(derived());
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse and determinant, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param determinant Reference to the variable in which to store the inverse.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseAndDetWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseAndDetWithCheck.out
+  *
+  * \sa inverse(), computeInverseWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  // for 2x2, it's worth giving a chance to avoid evaluating.
+  // for larger sizes, evaluating has negligible cost and limits code size.
+  typedef typename internal::conditional<
+    RowsAtCompileTime == 2,
+    typename internal::remove_all<typename internal::nested<Derived, 2>::type>::type,
+    PlainObject
+  >::type MatrixType;
+  internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
+    (derived(), absDeterminantThreshold, inverse, determinant, invertible);
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseWithCheck.out
+  *
+  * \sa inverse(), computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseWithCheck(
+    ResultType& inverse,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  RealScalar determinant;
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);
+}
+
+#endif // EIGEN_INVERSE_H
diff --git a/extern/Eigen3/Eigen/src/LU/PartialPivLU.h b/extern/Eigen3/Eigen/src/LU/PartialPivLU.h
new file mode 100644
index 00000000000..09394b01f5b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/LU/PartialPivLU.h
@@ -0,0 +1,509 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARTIALLU_H
+#define EIGEN_PARTIALLU_H
+
+/** \ingroup LU_Module
+  *
+  * \class PartialPivLU
+  *
+  * \brief LU decomposition of a matrix with partial pivoting, and related features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  *
+  * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
+  * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
+  * is a permutation matrix.
+  *
+  * Typically, partial pivoting LU decomposition is only considered numerically stable for square invertible
+  * matrices. Thus LAPACK's dgesv and dgesvx require the matrix to be square and invertible. The present class
+  * does the same. It will assert that the matrix is square, but it won't (actually it can't) check that the
+  * matrix is invertible: it is your task to check that you only use this decomposition on invertible matrices.
+  *
+  * The guaranteed safe alternative, working for all matrices, is the full pivoting LU decomposition, provided
+  * by class FullPivLU.
+  *
+  * This is \b not a rank-revealing LU decomposition. Many features are intentionally absent from this class,
+  * such as rank computation. If you need these features, use class FullPivLU.
+  *
+  * This LU decomposition is suitable to invert invertible matrices. It is what MatrixBase::inverse() uses
+  * in the general case.
+  * On the other hand, it is \b not suitable to determine whether a given matrix is invertible.
+  *
+  * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
+  *
+  * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
+  */
+template<typename _MatrixType> class PartialPivLU
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
+    typedef typename MatrixType::Index Index;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via PartialPivLU::compute(const MatrixType&).
+    */
+    PartialPivLU();
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa PartialPivLU()
+      */
+    PartialPivLU(Index size);
+
+    /** Constructor.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *
+      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+      * If you need to deal with non-full rank, use class FullPivLU instead.
+      */
+    PartialPivLU(const MatrixType& matrix);
+
+    PartialPivLU& compute(const MatrixType& matrix);
+
+    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+      * unit-lower-triangular part is L (at least for square matrices; in the non-square
+      * case, special care is needed, see the documentation of class FullPivLU).
+      *
+      * \sa matrixL(), matrixU()
+      */
+    inline const MatrixType& matrixLU() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return m_lu;
+    }
+
+    /** \returns the permutation matrix P.
+      */
+    inline const PermutationType& permutationP() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return m_p;
+    }
+
+    /** This method returns the solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the LU decomposition.
+      *
+      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+      *          the only requirement in order for the equation to make sense is that
+      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+      *
+      * \returns the solution.
+      *
+      * Example: \include PartialPivLU_solve.cpp
+      * Output: \verbinclude PartialPivLU_solve.out
+      *
+      * Since this PartialPivLU class assumes anyway that the matrix A is invertible, the solution
+      * theoretically exists and is unique regardless of b.
+      *
+      * \sa TriangularView::solve(), inverse(), computeInverse()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<PartialPivLU, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::solve_retval<PartialPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the inverse of the matrix of which *this is the LU decomposition.
+      *
+      * \warning The matrix being decomposed here is assumed to be invertible. If you need to check for
+      *          invertibility, use class FullPivLU instead.
+      *
+      * \sa MatrixBase::inverse(), LU::inverse()
+      */
+    inline const internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+    }
+
+    /** \returns the determinant of the matrix of which
+      * *this is the LU decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the LU decomposition has already been computed.
+      *
+      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+      *       optimized paths.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      *
+      * \sa MatrixBase::determinant()
+      */
+    typename internal::traits<MatrixType>::Scalar determinant() const;
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_lu.rows(); }
+    inline Index cols() const { return m_lu.cols(); }
+
+  protected:
+    MatrixType m_lu;
+    PermutationType m_p;
+    TranspositionType m_rowsTranspositions;
+    Index m_det_p;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU()
+  : m_lu(),
+    m_p(),
+    m_rowsTranspositions(),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU(Index size)
+  : m_lu(size, size),
+    m_p(size),
+    m_rowsTranspositions(size),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU(const MatrixType& matrix)
+  : m_lu(matrix.rows(), matrix.rows()),
+    m_p(matrix.rows()),
+    m_rowsTranspositions(matrix.rows()),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+  compute(matrix);
+}
+
+namespace internal {
+
+/** \internal This is the blocked version of fullpivlu_unblocked() */
+template<typename Scalar, int StorageOrder, typename PivIndex>
+struct partial_lu_impl
+{
+  // FIXME add a stride to Map, so that the following mapping becomes easier,
+  // another option would be to create an expression being able to automatically
+  // warp any Map, Matrix, and Block expressions as a unique type, but since that's exactly
+  // a Map + stride, why not adding a stride to Map, and convenient ctors from a Matrix,
+  // and Block.
+  typedef Map<Matrix<Scalar, Dynamic, Dynamic, StorageOrder> > MapLU;
+  typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
+  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename MatrixType::Index Index;
+
+  /** \internal performs the LU decomposition in-place of the matrix \a lu
+    * using an unblocked algorithm.
+    *
+    * In addition, this function returns the row transpositions in the
+    * vector \a row_transpositions which must have a size equal to the number
+    * of columns of the matrix \a lu, and an integer \a nb_transpositions
+    * which returns the actual number of transpositions.
+    *
+    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+    */
+  static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
+  {
+    const Index rows = lu.rows();
+    const Index cols = lu.cols();
+    const Index size = (std::min)(rows,cols);
+    nb_transpositions = 0;
+    int first_zero_pivot = -1;
+    for(Index k = 0; k < size; ++k)
+    {
+      Index rrows = rows-k-1;
+      Index rcols = cols-k-1;
+        
+      Index row_of_biggest_in_col;
+      RealScalar biggest_in_corner
+        = lu.col(k).tail(rows-k).cwiseAbs().maxCoeff(&row_of_biggest_in_col);
+      row_of_biggest_in_col += k;
+
+      row_transpositions[k] = row_of_biggest_in_col;
+
+      if(biggest_in_corner != RealScalar(0))
+      {
+        if(k != row_of_biggest_in_col)
+        {
+          lu.row(k).swap(lu.row(row_of_biggest_in_col));
+          ++nb_transpositions;
+        }
+
+        // FIXME shall we introduce a safe quotient expression in cas 1/lu.coeff(k,k)
+        // overflow but not the actual quotient?
+        lu.col(k).tail(rrows) /= lu.coeff(k,k);
+      }
+      else if(first_zero_pivot==-1)
+      {
+        // the pivot is exactly zero, we record the index of the first pivot which is exactly 0,
+        // and continue the factorization such we still have A = PLU
+        first_zero_pivot = k;
+      }
+
+      if(k<rows-1)
+        lu.bottomRightCorner(rrows,rcols).noalias() -= lu.col(k).tail(rrows) * lu.row(k).tail(rcols);
+    }
+    return first_zero_pivot;
+  }
+
+  /** \internal performs the LU decomposition in-place of the matrix represented
+    * by the variables \a rows, \a cols, \a lu_data, and \a lu_stride using a
+    * recursive, blocked algorithm.
+    *
+    * In addition, this function returns the row transpositions in the
+    * vector \a row_transpositions which must have a size equal to the number
+    * of columns of the matrix \a lu, and an integer \a nb_transpositions
+    * which returns the actual number of transpositions.
+    *
+    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+    *
+    * \note This very low level interface using pointers, etc. is to:
+    *   1 - reduce the number of instanciations to the strict minimum
+    *   2 - avoid infinite recursion of the instanciations with Block<Block<Block<...> > >
+    */
+  static Index blocked_lu(Index rows, Index cols, Scalar* lu_data, Index luStride, PivIndex* row_transpositions, PivIndex& nb_transpositions, Index maxBlockSize=256)
+  {
+    MapLU lu1(lu_data,StorageOrder==RowMajor?rows:luStride,StorageOrder==RowMajor?luStride:cols);
+    MatrixType lu(lu1,0,0,rows,cols);
+
+    const Index size = (std::min)(rows,cols);
+
+    // if the matrix is too small, no blocking:
+    if(size<=16)
+    {
+      return unblocked_lu(lu, row_transpositions, nb_transpositions);
+    }
+
+    // automatically adjust the number of subdivisions to the size
+    // of the matrix so that there is enough sub blocks:
+    Index blockSize;
+    {
+      blockSize = size/8;
+      blockSize = (blockSize/16)*16;
+      blockSize = (std::min)((std::max)(blockSize,Index(8)), maxBlockSize);
+    }
+
+    nb_transpositions = 0;
+    int first_zero_pivot = -1;
+    for(Index k = 0; k < size; k+=blockSize)
+    {
+      Index bs = (std::min)(size-k,blockSize); // actual size of the block
+      Index trows = rows - k - bs; // trailing rows
+      Index tsize = size - k - bs; // trailing size
+
+      // partition the matrix:
+      //                          A00 | A01 | A02
+      // lu  = A_0 | A_1 | A_2 =  A10 | A11 | A12
+      //                          A20 | A21 | A22
+      BlockType A_0(lu,0,0,rows,k);
+      BlockType A_2(lu,0,k+bs,rows,tsize);
+      BlockType A11(lu,k,k,bs,bs);
+      BlockType A12(lu,k,k+bs,bs,tsize);
+      BlockType A21(lu,k+bs,k,trows,bs);
+      BlockType A22(lu,k+bs,k+bs,trows,tsize);
+
+      PivIndex nb_transpositions_in_panel;
+      // recursively call the blocked LU algorithm on [A11^T A21^T]^T
+      // with a very small blocking size:
+      Index ret = blocked_lu(trows+bs, bs, &lu.coeffRef(k,k), luStride,
+                   row_transpositions+k, nb_transpositions_in_panel, 16);
+      if(ret>=0 && first_zero_pivot==-1)
+        first_zero_pivot = k+ret;
+
+      nb_transpositions += nb_transpositions_in_panel;
+      // update permutations and apply them to A_0
+      for(Index i=k; i<k+bs; ++i)
+      {
+        Index piv = (row_transpositions[i] += k);
+        A_0.row(i).swap(A_0.row(piv));
+      }
+
+      if(trows)
+      {
+        // apply permutations to A_2
+        for(Index i=k;i<k+bs; ++i)
+          A_2.row(i).swap(A_2.row(row_transpositions[i]));
+
+        // A12 = A11^-1 A12
+        A11.template triangularView<UnitLower>().solveInPlace(A12);
+
+        A22.noalias() -= A21 * A12;
+      }
+    }
+    return first_zero_pivot;
+  }
+};
+
+/** \internal performs the LU decomposition with partial pivoting in-place.
+  */
+template<typename MatrixType, typename TranspositionType>
+void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::Index& nb_transpositions)
+{
+  eigen_assert(lu.cols() == row_transpositions.size());
+  eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
+
+  partial_lu_impl
+    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::Index>
+    ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
+}
+
+} // end namespace internal
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>& PartialPivLU<MatrixType>::compute(const MatrixType& matrix)
+{
+  m_lu = matrix;
+
+  eigen_assert(matrix.rows() == matrix.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
+  const Index size = matrix.rows();
+
+  m_rowsTranspositions.resize(size);
+
+  typename TranspositionType::Index nb_transpositions;
+  internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
+  m_det_p = (nb_transpositions%2) ? -1 : 1;
+
+  m_p = m_rowsTranspositions;
+
+  m_isInitialized = true;
+  return *this;
+}
+
+template<typename MatrixType>
+typename internal::traits<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
+{
+  eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+  return Scalar(m_det_p) * m_lu.diagonal().prod();
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^{-1} L U.
+ * This function is provided for debug purpose. */
+template<typename MatrixType>
+MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  // LU
+  MatrixType res = m_lu.template triangularView<UnitLower>().toDenseMatrix()
+                 * m_lu.template triangularView<Upper>();
+
+  // P^{-1}(LU)
+  res = m_p.inverse() * res;
+
+  return res;
+}
+
+/***** Implementation of solve() *****************************************************/
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<PartialPivLU<_MatrixType>, Rhs>
+  : solve_retval_base<PartialPivLU<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(PartialPivLU<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+    * So we proceed as follows:
+    * Step 1: compute c = Pb.
+    * Step 2: replace c by the solution x to Lx = c.
+    * Step 3: replace c by the solution x to Ux = c.
+    */
+
+    eigen_assert(rhs().rows() == dec().matrixLU().rows());
+
+    // Step 1
+    dst = dec().permutationP() * rhs();
+
+    // Step 2
+    dec().matrixLU().template triangularView<UnitLower>().solveInPlace(dst);
+
+    // Step 3
+    dec().matrixLU().template triangularView<Upper>().solveInPlace(dst);
+  }
+};
+
+} // end namespace internal
+
+/******** MatrixBase methods *******/
+
+/** \lu_module
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::partialPivLu() const
+{
+  return PartialPivLU<PlainObject>(eval());
+}
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::lu() const
+{
+  return PartialPivLU<PlainObject>(eval());
+}
+#endif
+
+#endif // EIGEN_PARTIALLU_H
diff --git a/extern/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h b/extern/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h
new file mode 100644
index 00000000000..176c349ce44
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h
@@ -0,0 +1,340 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2001 Intel Corporation
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// The SSE code for the 4x4 float and double matrix inverse in this file
+// comes from the following Intel's library:
+// http://software.intel.com/en-us/articles/optimized-matrix-library-for-use-with-the-intel-pentiumr-4-processors-sse2-instructions/
+//
+// Here is the respective copyright and license statement:
+//
+//   Copyright (c) 2001 Intel Corporation.
+//
+// Permition is granted to use, copy, distribute and prepare derivative works
+// of this library for any purpose and without fee, provided, that the above
+// copyright notice and this statement appear in all copies.
+// Intel makes no representations about the suitability of this software for
+// any purpose, and specifically disclaims all warranties.
+// See LEGAL.TXT for all the legal information.
+
+#ifndef EIGEN_INVERSE_SSE_H
+#define EIGEN_INVERSE_SSE_H
+
+namespace internal {
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
+{
+  enum {
+    MatrixAlignment     = bool(MatrixType::Flags&AlignedBit),
+    ResultAlignment     = bool(ResultType::Flags&AlignedBit),
+    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+  };
+  
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    EIGEN_ALIGN16 const  int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
+
+    // Load the full matrix into registers
+    __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);
+    __m128 _L2 = matrix.template packet<MatrixAlignment>( 4);
+    __m128 _L3 = matrix.template packet<MatrixAlignment>( 8);
+    __m128 _L4 = matrix.template packet<MatrixAlignment>(12);
+
+    // The inverse is calculated using "Divide and Conquer" technique. The
+    // original matrix is divide into four 2x2 sub-matrices. Since each
+    // register holds four matrix element, the smaller matrices are
+    // represented as a registers. Hence we get a better locality of the
+    // calculations.
+
+    __m128 A, B, C, D; // the four sub-matrices
+    if(!StorageOrdersMatch)
+    {
+      A = _mm_unpacklo_ps(_L1, _L2);
+      B = _mm_unpacklo_ps(_L3, _L4);
+      C = _mm_unpackhi_ps(_L1, _L2);
+      D = _mm_unpackhi_ps(_L3, _L4);
+    }
+    else
+    {
+      A = _mm_movelh_ps(_L1, _L2);
+      B = _mm_movehl_ps(_L2, _L1);
+      C = _mm_movelh_ps(_L3, _L4);
+      D = _mm_movehl_ps(_L4, _L3);
+    }
+
+    __m128 iA, iB, iC, iD,                 // partial inverse of the sub-matrices
+            DC, AB;
+    __m128 dA, dB, dC, dD;                 // determinant of the sub-matrices
+    __m128 det, d, d1, d2;
+    __m128 rd;                             // reciprocal of the determinant
+
+    //  AB = A# * B
+    AB = _mm_mul_ps(_mm_shuffle_ps(A,A,0x0F), B);
+    AB = _mm_sub_ps(AB,_mm_mul_ps(_mm_shuffle_ps(A,A,0xA5), _mm_shuffle_ps(B,B,0x4E)));
+    //  DC = D# * C
+    DC = _mm_mul_ps(_mm_shuffle_ps(D,D,0x0F), C);
+    DC = _mm_sub_ps(DC,_mm_mul_ps(_mm_shuffle_ps(D,D,0xA5), _mm_shuffle_ps(C,C,0x4E)));
+
+    //  dA = |A|
+    dA = _mm_mul_ps(_mm_shuffle_ps(A, A, 0x5F),A);
+    dA = _mm_sub_ss(dA, _mm_movehl_ps(dA,dA));
+    //  dB = |B|
+    dB = _mm_mul_ps(_mm_shuffle_ps(B, B, 0x5F),B);
+    dB = _mm_sub_ss(dB, _mm_movehl_ps(dB,dB));
+
+    //  dC = |C|
+    dC = _mm_mul_ps(_mm_shuffle_ps(C, C, 0x5F),C);
+    dC = _mm_sub_ss(dC, _mm_movehl_ps(dC,dC));
+    //  dD = |D|
+    dD = _mm_mul_ps(_mm_shuffle_ps(D, D, 0x5F),D);
+    dD = _mm_sub_ss(dD, _mm_movehl_ps(dD,dD));
+
+    //  d = trace(AB*DC) = trace(A#*B*D#*C)
+    d = _mm_mul_ps(_mm_shuffle_ps(DC,DC,0xD8),AB);
+
+    //  iD = C*A#*B
+    iD = _mm_mul_ps(_mm_shuffle_ps(C,C,0xA0), _mm_movelh_ps(AB,AB));
+    iD = _mm_add_ps(iD,_mm_mul_ps(_mm_shuffle_ps(C,C,0xF5), _mm_movehl_ps(AB,AB)));
+    //  iA = B*D#*C
+    iA = _mm_mul_ps(_mm_shuffle_ps(B,B,0xA0), _mm_movelh_ps(DC,DC));
+    iA = _mm_add_ps(iA,_mm_mul_ps(_mm_shuffle_ps(B,B,0xF5), _mm_movehl_ps(DC,DC)));
+
+    //  d = trace(AB*DC) = trace(A#*B*D#*C) [continue]
+    d  = _mm_add_ps(d, _mm_movehl_ps(d, d));
+    d  = _mm_add_ss(d, _mm_shuffle_ps(d, d, 1));
+    d1 = _mm_mul_ss(dA,dD);
+    d2 = _mm_mul_ss(dB,dC);
+
+    //  iD = D*|A| - C*A#*B
+    iD = _mm_sub_ps(_mm_mul_ps(D,_mm_shuffle_ps(dA,dA,0)), iD);
+
+    //  iA = A*|D| - B*D#*C;
+    iA = _mm_sub_ps(_mm_mul_ps(A,_mm_shuffle_ps(dD,dD,0)), iA);
+
+    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+    det = _mm_sub_ss(_mm_add_ss(d1,d2),d);
+    rd  = _mm_div_ss(_mm_set_ss(1.0f), det);
+
+//     #ifdef ZERO_SINGULAR
+//         rd = _mm_and_ps(_mm_cmpneq_ss(det,_mm_setzero_ps()), rd);
+//     #endif
+
+    //  iB = D * (A#B)# = D*B#*A
+    iB = _mm_mul_ps(D, _mm_shuffle_ps(AB,AB,0x33));
+    iB = _mm_sub_ps(iB, _mm_mul_ps(_mm_shuffle_ps(D,D,0xB1), _mm_shuffle_ps(AB,AB,0x66)));
+    //  iC = A * (D#C)# = A*C#*D
+    iC = _mm_mul_ps(A, _mm_shuffle_ps(DC,DC,0x33));
+    iC = _mm_sub_ps(iC, _mm_mul_ps(_mm_shuffle_ps(A,A,0xB1), _mm_shuffle_ps(DC,DC,0x66)));
+
+    rd = _mm_shuffle_ps(rd,rd,0);
+    rd = _mm_xor_ps(rd, _mm_load_ps((float*)_Sign_PNNP));
+
+    //  iB = C*|B| - D*B#*A
+    iB = _mm_sub_ps(_mm_mul_ps(C,_mm_shuffle_ps(dB,dB,0)), iB);
+
+    //  iC = B*|C| - A*C#*D;
+    iC = _mm_sub_ps(_mm_mul_ps(B,_mm_shuffle_ps(dC,dC,0)), iC);
+
+    //  iX = iX / det
+    iA = _mm_mul_ps(rd,iA);
+    iB = _mm_mul_ps(rd,iB);
+    iC = _mm_mul_ps(rd,iC);
+    iD = _mm_mul_ps(rd,iD);
+
+    result.template writePacket<ResultAlignment>( 0, _mm_shuffle_ps(iA,iB,0x77));
+    result.template writePacket<ResultAlignment>( 4, _mm_shuffle_ps(iA,iB,0x22));
+    result.template writePacket<ResultAlignment>( 8, _mm_shuffle_ps(iC,iD,0x77));
+    result.template writePacket<ResultAlignment>(12, _mm_shuffle_ps(iC,iD,0x22));
+  }
+
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
+{
+  enum {
+    MatrixAlignment = bool(MatrixType::Flags&AlignedBit),
+    ResultAlignment = bool(ResultType::Flags&AlignedBit),
+    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+  };
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+    const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+
+    // The inverse is calculated using "Divide and Conquer" technique. The
+    // original matrix is divide into four 2x2 sub-matrices. Since each
+    // register of the matrix holds two element, the smaller matrices are
+    // consisted of two registers. Hence we get a better locality of the
+    // calculations.
+
+    // the four sub-matrices
+    __m128d A1, A2, B1, B2, C1, C2, D1, D2;
+    
+    if(StorageOrdersMatch)
+    {
+      A1 = matrix.template packet<MatrixAlignment>( 0); B1 = matrix.template packet<MatrixAlignment>( 2);
+      A2 = matrix.template packet<MatrixAlignment>( 4); B2 = matrix.template packet<MatrixAlignment>( 6);
+      C1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+      C2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+    }
+    else
+    {
+      __m128d tmp;
+      A1 = matrix.template packet<MatrixAlignment>( 0); C1 = matrix.template packet<MatrixAlignment>( 2);
+      A2 = matrix.template packet<MatrixAlignment>( 4); C2 = matrix.template packet<MatrixAlignment>( 6);
+      tmp = A1;
+      A1 = _mm_unpacklo_pd(A1,A2);
+      A2 = _mm_unpackhi_pd(tmp,A2);
+      tmp = C1;
+      C1 = _mm_unpacklo_pd(C1,C2);
+      C2 = _mm_unpackhi_pd(tmp,C2);
+      
+      B1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+      B2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+      tmp = B1;
+      B1 = _mm_unpacklo_pd(B1,B2);
+      B2 = _mm_unpackhi_pd(tmp,B2);
+      tmp = D1;
+      D1 = _mm_unpacklo_pd(D1,D2);
+      D2 = _mm_unpackhi_pd(tmp,D2);
+    }
+    
+    __m128d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2,     // partial invese of the sub-matrices
+            DC1, DC2, AB1, AB2;
+    __m128d dA, dB, dC, dD;     // determinant of the sub-matrices
+    __m128d det, d1, d2, rd;
+
+    //  dA = |A|
+    dA = _mm_shuffle_pd(A2, A2, 1);
+    dA = _mm_mul_pd(A1, dA);
+    dA = _mm_sub_sd(dA, _mm_shuffle_pd(dA,dA,3));
+    //  dB = |B|
+    dB = _mm_shuffle_pd(B2, B2, 1);
+    dB = _mm_mul_pd(B1, dB);
+    dB = _mm_sub_sd(dB, _mm_shuffle_pd(dB,dB,3));
+
+    //  AB = A# * B
+    AB1 = _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,3));
+    AB2 = _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,0));
+    AB1 = _mm_sub_pd(AB1, _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,3)));
+    AB2 = _mm_sub_pd(AB2, _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,0)));
+
+    //  dC = |C|
+    dC = _mm_shuffle_pd(C2, C2, 1);
+    dC = _mm_mul_pd(C1, dC);
+    dC = _mm_sub_sd(dC, _mm_shuffle_pd(dC,dC,3));
+    //  dD = |D|
+    dD = _mm_shuffle_pd(D2, D2, 1);
+    dD = _mm_mul_pd(D1, dD);
+    dD = _mm_sub_sd(dD, _mm_shuffle_pd(dD,dD,3));
+
+    //  DC = D# * C
+    DC1 = _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,3));
+    DC2 = _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,0));
+    DC1 = _mm_sub_pd(DC1, _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,3)));
+    DC2 = _mm_sub_pd(DC2, _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,0)));
+
+    //  rd = trace(AB*DC) = trace(A#*B*D#*C)
+    d1 = _mm_mul_pd(AB1, _mm_shuffle_pd(DC1, DC2, 0));
+    d2 = _mm_mul_pd(AB2, _mm_shuffle_pd(DC1, DC2, 3));
+    rd = _mm_add_pd(d1, d2);
+    rd = _mm_add_sd(rd, _mm_shuffle_pd(rd, rd,3));
+
+    //  iD = C*A#*B
+    iD1 = _mm_mul_pd(AB1, _mm_shuffle_pd(C1,C1,0));
+    iD2 = _mm_mul_pd(AB1, _mm_shuffle_pd(C2,C2,0));
+    iD1 = _mm_add_pd(iD1, _mm_mul_pd(AB2, _mm_shuffle_pd(C1,C1,3)));
+    iD2 = _mm_add_pd(iD2, _mm_mul_pd(AB2, _mm_shuffle_pd(C2,C2,3)));
+
+    //  iA = B*D#*C
+    iA1 = _mm_mul_pd(DC1, _mm_shuffle_pd(B1,B1,0));
+    iA2 = _mm_mul_pd(DC1, _mm_shuffle_pd(B2,B2,0));
+    iA1 = _mm_add_pd(iA1, _mm_mul_pd(DC2, _mm_shuffle_pd(B1,B1,3)));
+    iA2 = _mm_add_pd(iA2, _mm_mul_pd(DC2, _mm_shuffle_pd(B2,B2,3)));
+
+    //  iD = D*|A| - C*A#*B
+    dA = _mm_shuffle_pd(dA,dA,0);
+    iD1 = _mm_sub_pd(_mm_mul_pd(D1, dA), iD1);
+    iD2 = _mm_sub_pd(_mm_mul_pd(D2, dA), iD2);
+
+    //  iA = A*|D| - B*D#*C;
+    dD = _mm_shuffle_pd(dD,dD,0);
+    iA1 = _mm_sub_pd(_mm_mul_pd(A1, dD), iA1);
+    iA2 = _mm_sub_pd(_mm_mul_pd(A2, dD), iA2);
+
+    d1 = _mm_mul_sd(dA, dD);
+    d2 = _mm_mul_sd(dB, dC);
+
+    //  iB = D * (A#B)# = D*B#*A
+    iB1 = _mm_mul_pd(D1, _mm_shuffle_pd(AB2,AB1,1));
+    iB2 = _mm_mul_pd(D2, _mm_shuffle_pd(AB2,AB1,1));
+    iB1 = _mm_sub_pd(iB1, _mm_mul_pd(_mm_shuffle_pd(D1,D1,1), _mm_shuffle_pd(AB2,AB1,2)));
+    iB2 = _mm_sub_pd(iB2, _mm_mul_pd(_mm_shuffle_pd(D2,D2,1), _mm_shuffle_pd(AB2,AB1,2)));
+
+    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+    det = _mm_add_sd(d1, d2);
+    det = _mm_sub_sd(det, rd);
+
+    //  iC = A * (D#C)# = A*C#*D
+    iC1 = _mm_mul_pd(A1, _mm_shuffle_pd(DC2,DC1,1));
+    iC2 = _mm_mul_pd(A2, _mm_shuffle_pd(DC2,DC1,1));
+    iC1 = _mm_sub_pd(iC1, _mm_mul_pd(_mm_shuffle_pd(A1,A1,1), _mm_shuffle_pd(DC2,DC1,2)));
+    iC2 = _mm_sub_pd(iC2, _mm_mul_pd(_mm_shuffle_pd(A2,A2,1), _mm_shuffle_pd(DC2,DC1,2)));
+
+    rd = _mm_div_sd(_mm_set_sd(1.0), det);
+//     #ifdef ZERO_SINGULAR
+//         rd = _mm_and_pd(_mm_cmpneq_sd(det,_mm_setzero_pd()), rd);
+//     #endif
+    rd = _mm_shuffle_pd(rd,rd,0);
+
+    //  iB = C*|B| - D*B#*A
+    dB = _mm_shuffle_pd(dB,dB,0);
+    iB1 = _mm_sub_pd(_mm_mul_pd(C1, dB), iB1);
+    iB2 = _mm_sub_pd(_mm_mul_pd(C2, dB), iB2);
+
+    d1 = _mm_xor_pd(rd, _Sign_PN);
+    d2 = _mm_xor_pd(rd, _Sign_NP);
+
+    //  iC = B*|C| - A*C#*D;
+    dC = _mm_shuffle_pd(dC,dC,0);
+    iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
+    iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
+
+    result.template writePacket<ResultAlignment>( 0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));     // iA# / det
+    result.template writePacket<ResultAlignment>( 4, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
+    result.template writePacket<ResultAlignment>( 2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));     // iB# / det
+    result.template writePacket<ResultAlignment>( 6, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
+    result.template writePacket<ResultAlignment>( 8, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));     // iC# / det
+    result.template writePacket<ResultAlignment>(12, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
+    result.template writePacket<ResultAlignment>(10, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));     // iD# / det
+    result.template writePacket<ResultAlignment>(14, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
+  }
+};
+
+}
+
+#endif // EIGEN_INVERSE_SSE_H
diff --git a/extern/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h b/extern/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h
new file mode 100644
index 00000000000..f04c6038d6a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h
@@ -0,0 +1,532 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+
+/** \ingroup QR_Module
+  *
+  * \class ColPivHouseholderQR
+  *
+  * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * upper triangular matrix.
+  *
+  * This decomposition performs column pivoting in order to be rank-revealing and improve
+  * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
+  *
+  * \sa MatrixBase::colPivHouseholderQr()
+  */
+template<typename _MatrixType> class ColPivHouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
+    typedef typename HouseholderSequence<MatrixType,HCoeffsType>::ConjugateReturnType HouseholderSequenceType;
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via ColPivHouseholderQR::compute(const MatrixType&).
+    */
+    ColPivHouseholderQR()
+      : m_qr(),
+        m_hCoeffs(),
+        m_colsPermutation(),
+        m_colsTranspositions(),
+        m_temp(),
+        m_colSqNorms(),
+        m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa ColPivHouseholderQR()
+      */
+    ColPivHouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs((std::min)(rows,cols)),
+        m_colsPermutation(cols),
+        m_colsTranspositions(cols),
+        m_temp(cols),
+        m_colSqNorms(cols),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    ColPivHouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_colsPermutation(matrix.cols()),
+        m_colsTranspositions(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_colSqNorms(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include ColPivHouseholderQR_solve.cpp
+      * Output: \verbinclude ColPivHouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<ColPivHouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return internal::solve_retval<ColPivHouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    HouseholderSequenceType householderQ(void) const;
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      */
+    const MatrixType& matrixQR() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return m_qr;
+    }
+
+    ColPivHouseholderQR& compute(const MatrixType& matrix);
+
+    const PermutationType& colsPermutation() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return m_colsPermutation;
+    }
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    /** \returns the rank of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return isInjective() && isSurjective();
+    }
+
+    /** \returns the inverse of the matrix of which *this is the QR decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      */
+    inline const
+    internal::solve_retval<ColPivHouseholderQR, typename MatrixType::IdentityReturnType>
+    inverse() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return internal::solve_retval<ColPivHouseholderQR,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+    }
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * QR decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    ColPivHouseholderQR& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code qr.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    ColPivHouseholderQR& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+      return *this;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_qr.diagonalSize();
+    }
+
+    /** \returns the number of nonzero pivots in the QR decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of R.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    PermutationType m_colsPermutation;
+    IntRowVectorType m_colsTranspositions;
+    RowVectorType m_temp;
+    RealRowVectorType m_colSqNorms;
+    bool m_isInitialized, m_usePrescribedThreshold;
+    RealScalar m_prescribedThreshold, m_maxpivot;
+    Index m_nonzero_pivots;
+    Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+template<typename MatrixType>
+ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = matrix.diagonalSize();
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  m_colsTranspositions.resize(matrix.cols());
+  Index number_of_transpositions = 0;
+
+  m_colSqNorms.resize(cols);
+  for(Index k = 0; k < cols; ++k)
+    m_colSqNorms.coeffRef(k) = m_qr.col(k).squaredNorm();
+
+  RealScalar threshold_helper = m_colSqNorms.maxCoeff() * internal::abs2(NumTraits<Scalar>::epsilon()) / RealScalar(rows);
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+
+  for(Index k = 0; k < size; ++k)
+  {
+    // first, we look up in our table m_colSqNorms which column has the biggest squared norm
+    Index biggest_col_index;
+    RealScalar biggest_col_sq_norm = m_colSqNorms.tail(cols-k).maxCoeff(&biggest_col_index);
+    biggest_col_index += k;
+
+    // since our table m_colSqNorms accumulates imprecision at every step, we must now recompute
+    // the actual squared norm of the selected column.
+    // Note that not doing so does result in solve() sometimes returning inf/nan values
+    // when running the unit test with 1000 repetitions.
+    biggest_col_sq_norm = m_qr.col(biggest_col_index).tail(rows-k).squaredNorm();
+
+    // we store that back into our table: it can't hurt to correct our table.
+    m_colSqNorms.coeffRef(biggest_col_index) = biggest_col_sq_norm;
+
+    // if the current biggest column is smaller than epsilon times the initial biggest column,
+    // terminate to avoid generating nan/inf values.
+    // Note that here, if we test instead for "biggest == 0", we get a failure every 1000 (or so)
+    // repetitions of the unit test, with the result of solve() filled with large values of the order
+    // of 1/(size*epsilon).
+    if(biggest_col_sq_norm < threshold_helper * RealScalar(rows-k))
+    {
+      m_nonzero_pivots = k;
+      m_hCoeffs.tail(size-k).setZero();
+      m_qr.bottomRightCorner(rows-k,cols-k)
+          .template triangularView<StrictlyLower>()
+          .setZero();
+      break;
+    }
+
+    // apply the transposition to the columns
+    m_colsTranspositions.coeffRef(k) = biggest_col_index;
+    if(k != biggest_col_index) {
+      m_qr.col(k).swap(m_qr.col(biggest_col_index));
+      std::swap(m_colSqNorms.coeffRef(k), m_colSqNorms.coeffRef(biggest_col_index));
+      ++number_of_transpositions;
+    }
+
+    // generate the householder vector, store it below the diagonal
+    RealScalar beta;
+    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+
+    // apply the householder transformation to the diagonal coefficient
+    m_qr.coeffRef(k,k) = beta;
+
+    // remember the maximum absolute value of diagonal coefficients
+    if(internal::abs(beta) > m_maxpivot) m_maxpivot = internal::abs(beta);
+
+    // apply the householder transformation
+    m_qr.bottomRightCorner(rows-k, cols-k-1)
+        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+
+    // update our table of squared norms of the columns
+    m_colSqNorms.tail(cols-k-1) -= m_qr.row(k).tail(cols-k-1).cwiseAbs2();
+  }
+
+  m_colsPermutation.setIdentity(cols);
+  for(Index k = 0; k < m_nonzero_pivots; ++k)
+    m_colsPermutation.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  m_isInitialized = true;
+
+  return *this;
+}
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<ColPivHouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<ColPivHouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(ColPivHouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().rows());
+
+    const int cols = dec().cols(),
+    nonzero_pivots = dec().nonzeroPivots();
+
+    if(nonzero_pivots == 0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs());
+
+    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+    c.applyOnTheLeft(householderSequence(dec().matrixQR(), dec().hCoeffs())
+                     .setLength(dec().nonzeroPivots())
+		     .transpose()
+      );
+
+    dec().matrixQR()
+       .topLeftCorner(nonzero_pivots, nonzero_pivots)
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(nonzero_pivots));
+
+
+    typename Rhs::PlainObject d(c);
+    d.topRows(nonzero_pivots)
+      = dec().matrixQR()
+       .topLeftCorner(nonzero_pivots, nonzero_pivots)
+       .template triangularView<Upper>()
+       * c.topRows(nonzero_pivots);
+
+    for(Index i = 0; i < nonzero_pivots; ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
+    for(Index i = nonzero_pivots; i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations */
+template<typename MatrixType>
+typename ColPivHouseholderQR<MatrixType>::HouseholderSequenceType ColPivHouseholderQR<MatrixType>
+  ::householderQ() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate()).setLength(m_nonzero_pivots);
+}
+
+/** \return the column-pivoting Householder QR decomposition of \c *this.
+  *
+  * \sa class ColPivHouseholderQR
+  */
+template<typename Derived>
+const ColPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::colPivHouseholderQr() const
+{
+  return ColPivHouseholderQR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
diff --git a/extern/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h b/extern/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h
new file mode 100644
index 00000000000..dde3013be9d
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h
@@ -0,0 +1,546 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+
+/** \ingroup QR_Module
+  *
+  * \class FullPivHouseholderQR
+  *
+  * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * upper triangular matrix.
+  *
+  * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
+  * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
+  *
+  * \sa MatrixBase::fullPivHouseholderQr()
+  */
+template<typename _MatrixType> class FullPivHouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef Matrix<Index, 1, ColsAtCompileTime, RowMajor, 1, MaxColsAtCompileTime> IntRowVectorType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via FullPivHouseholderQR::compute(const MatrixType&).
+      */
+    FullPivHouseholderQR()
+      : m_qr(),
+        m_hCoeffs(),
+        m_rows_transpositions(),
+        m_cols_transpositions(),
+        m_cols_permutation(),
+        m_temp(),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa FullPivHouseholderQR()
+      */
+    FullPivHouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs((std::min)(rows,cols)),
+        m_rows_transpositions(rows),
+        m_cols_transpositions(cols),
+        m_cols_permutation(cols),
+        m_temp((std::min)(rows,cols)),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    FullPivHouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
+        m_rows_transpositions(matrix.rows()),
+        m_cols_transpositions(matrix.cols()),
+        m_cols_permutation(matrix.cols()),
+        m_temp((std::min)(matrix.rows(), matrix.cols())),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include FullPivHouseholderQR_solve.cpp
+      * Output: \verbinclude FullPivHouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<FullPivHouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return internal::solve_retval<FullPivHouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    MatrixQType matrixQ(void) const;
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      */
+    const MatrixType& matrixQR() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_qr;
+    }
+
+    FullPivHouseholderQR& compute(const MatrixType& matrix);
+
+    const PermutationType& colsPermutation() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_cols_permutation;
+    }
+
+    const IntColVectorType& rowsTranspositions() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_rows_transpositions;
+    }
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    /** \returns the rank of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return isInjective() && isSurjective();
+    }
+
+    /** \returns the inverse of the matrix of which *this is the QR decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      */    inline const
+    internal::solve_retval<FullPivHouseholderQR, typename MatrixType::IdentityReturnType>
+    inverse() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return internal::solve_retval<FullPivHouseholderQR,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+    }
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * QR decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    FullPivHouseholderQR& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code qr.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    FullPivHouseholderQR& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+      return *this;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_qr.diagonalSize();
+    }
+
+    /** \returns the number of nonzero pivots in the QR decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of U.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    IntColVectorType m_rows_transpositions;
+    IntRowVectorType m_cols_transpositions;
+    PermutationType m_cols_permutation;
+    RowVectorType m_temp;
+    bool m_isInitialized, m_usePrescribedThreshold;
+    RealScalar m_prescribedThreshold, m_maxpivot;
+    Index m_nonzero_pivots;
+    RealScalar m_precision;
+    Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+template<typename MatrixType>
+FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = (std::min)(rows,cols);
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  m_precision = NumTraits<Scalar>::epsilon() * size;
+
+  m_rows_transpositions.resize(matrix.rows());
+  m_cols_transpositions.resize(matrix.cols());
+  Index number_of_transpositions = 0;
+
+  RealScalar biggest(0);
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+
+  for (Index k = 0; k < size; ++k)
+  {
+    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+    RealScalar biggest_in_corner;
+
+    biggest_in_corner = m_qr.bottomRightCorner(rows-k, cols-k)
+                            .cwiseAbs()
+                            .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    row_of_biggest_in_corner += k;
+    col_of_biggest_in_corner += k;
+    if(k==0) biggest = biggest_in_corner;
+
+    // if the corner is negligible, then we have less than full rank, and we can finish early
+    if(internal::isMuchSmallerThan(biggest_in_corner, biggest, m_precision))
+    {
+      m_nonzero_pivots = k;
+      for(Index i = k; i < size; i++)
+      {
+        m_rows_transpositions.coeffRef(i) = i;
+        m_cols_transpositions.coeffRef(i) = i;
+        m_hCoeffs.coeffRef(i) = Scalar(0);
+      }
+      break;
+    }
+
+    m_rows_transpositions.coeffRef(k) = row_of_biggest_in_corner;
+    m_cols_transpositions.coeffRef(k) = col_of_biggest_in_corner;
+    if(k != row_of_biggest_in_corner) {
+      m_qr.row(k).tail(cols-k).swap(m_qr.row(row_of_biggest_in_corner).tail(cols-k));
+      ++number_of_transpositions;
+    }
+    if(k != col_of_biggest_in_corner) {
+      m_qr.col(k).swap(m_qr.col(col_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+
+    RealScalar beta;
+    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+    m_qr.coeffRef(k,k) = beta;
+
+    // remember the maximum absolute value of diagonal coefficients
+    if(internal::abs(beta) > m_maxpivot) m_maxpivot = internal::abs(beta);
+
+    m_qr.bottomRightCorner(rows-k, cols-k-1)
+        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+  }
+
+  m_cols_permutation.setIdentity(cols);
+  for(Index k = 0; k < size; ++k)
+    m_cols_permutation.applyTranspositionOnTheRight(k, m_cols_transpositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  m_isInitialized = true;
+
+  return *this;
+}
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<FullPivHouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<FullPivHouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(FullPivHouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index rows = dec().rows(), cols = dec().cols();
+    eigen_assert(rhs().rows() == rows);
+
+    // FIXME introduce nonzeroPivots() and use it here. and more generally,
+    // make the same improvements in this dec as in FullPivLU.
+    if(dec().rank()==0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs());
+
+    Matrix<Scalar,1,Rhs::ColsAtCompileTime> temp(rhs().cols());
+    for (Index k = 0; k < dec().rank(); ++k)
+    {
+      Index remainingSize = rows-k;
+      c.row(k).swap(c.row(dec().rowsTranspositions().coeff(k)));
+      c.bottomRightCorner(remainingSize, rhs().cols())
+       .applyHouseholderOnTheLeft(dec().matrixQR().col(k).tail(remainingSize-1),
+                                  dec().hCoeffs().coeff(k), &temp.coeffRef(0));
+    }
+
+    if(!dec().isSurjective())
+    {
+      // is c is in the image of R ?
+      RealScalar biggest_in_upper_part_of_c = c.topRows(   dec().rank()     ).cwiseAbs().maxCoeff();
+      RealScalar biggest_in_lower_part_of_c = c.bottomRows(rows-dec().rank()).cwiseAbs().maxCoeff();
+      // FIXME brain dead
+      const RealScalar m_precision = NumTraits<Scalar>::epsilon() * (std::min)(rows,cols);
+      // this internal:: prefix is needed by at least gcc 3.4 and ICC
+      if(!internal::isMuchSmallerThan(biggest_in_lower_part_of_c, biggest_in_upper_part_of_c, m_precision))
+        return;
+    }
+    dec().matrixQR()
+       .topLeftCorner(dec().rank(), dec().rank())
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(dec().rank()));
+
+    for(Index i = 0; i < dec().rank(); ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
+    for(Index i = dec().rank(); i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q */
+template<typename MatrixType>
+typename FullPivHouseholderQR<MatrixType>::MatrixQType FullPivHouseholderQR<MatrixType>::matrixQ() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  // compute the product H'_0 H'_1 ... H'_n-1,
+  // where H_k is the k-th Householder transformation I - h_k v_k v_k'
+  // and v_k is the k-th Householder vector [1,m_qr(k+1,k), m_qr(k+2,k), ...]
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
+  Index size = (std::min)(rows,cols);
+  MatrixQType res = MatrixQType::Identity(rows, rows);
+  Matrix<Scalar,1,MatrixType::RowsAtCompileTime> temp(rows);
+  for (Index k = size-1; k >= 0; k--)
+  {
+    res.block(k, k, rows-k, rows-k)
+       .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), internal::conj(m_hCoeffs.coeff(k)), &temp.coeffRef(k));
+    res.row(k).swap(res.row(m_rows_transpositions.coeff(k)));
+  }
+  return res;
+}
+
+/** \return the full-pivoting Householder QR decomposition of \c *this.
+  *
+  * \sa class FullPivHouseholderQR
+  */
+template<typename Derived>
+const FullPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivHouseholderQr() const
+{
+  return FullPivHouseholderQR<PlainObject>(eval());
+}
+
+#endif // EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
diff --git a/extern/Eigen3/Eigen/src/QR/HouseholderQR.h b/extern/Eigen3/Eigen/src/QR/HouseholderQR.h
new file mode 100644
index 00000000000..9ee96de2680
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/QR/HouseholderQR.h
@@ -0,0 +1,355 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Vincent Lejeune
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_QR_H
+#define EIGEN_QR_H
+
+/** \ingroup QR_Module
+  *
+  *
+  * \class HouseholderQR
+  *
+  * \brief Householder QR decomposition of a matrix
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b Q a unitary matrix and \b R an upper triangular matrix.
+  * The result is stored in a compact way compatible with LAPACK.
+  *
+  * Note that no pivoting is performed. This is \b not a rank-revealing decomposition.
+  * If you want that feature, use FullPivHouseholderQR or ColPivHouseholderQR instead.
+  *
+  * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
+  * FullPivHouseholderQR or ColPivHouseholderQR.
+  *
+  * \sa MatrixBase::householderQr()
+  */
+template<typename _MatrixType> class HouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename HouseholderSequence<MatrixType,HCoeffsType>::ConjugateReturnType HouseholderSequenceType;
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via HouseholderQR::compute(const MatrixType&).
+    */
+    HouseholderQR() : m_qr(), m_hCoeffs(), m_temp(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa HouseholderQR()
+      */
+    HouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs((std::min)(rows,cols)),
+        m_temp(cols),
+        m_isInitialized(false) {}
+
+    HouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_temp(matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include HouseholderQR_solve.cpp
+      * Output: \verbinclude HouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<HouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+      return internal::solve_retval<HouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    HouseholderSequenceType householderQ() const
+    {
+      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+      return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
+    }
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      * in a LAPACK-compatible way.
+      */
+    const MatrixType& matrixQR() const
+    {
+        eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+        return m_qr;
+    }
+
+    HouseholderQR& compute(const MatrixType& matrix);
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    RowVectorType m_temp;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+namespace internal {
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs>
+void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
+{
+  typedef typename MatrixQR::Index Index;
+  typedef typename MatrixQR::Scalar Scalar;
+  typedef typename MatrixQR::RealScalar RealScalar;
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+  Index size = (std::min)(rows,cols);
+
+  eigen_assert(hCoeffs.size() == size);
+
+  typedef Matrix<Scalar,MatrixQR::ColsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(cols);
+    tempData = tempVector.data();
+  }
+
+  for(Index k = 0; k < size; ++k)
+  {
+    Index remainingRows = rows - k;
+    Index remainingCols = cols - k - 1;
+
+    RealScalar beta;
+    mat.col(k).tail(remainingRows).makeHouseholderInPlace(hCoeffs.coeffRef(k), beta);
+    mat.coeffRef(k,k) = beta;
+
+    // apply H to remaining part of m_qr from the left
+    mat.bottomRightCorner(remainingRows, remainingCols)
+        .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), hCoeffs.coeffRef(k), tempData+k+1);
+  }
+}
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs>
+void householder_qr_inplace_blocked(MatrixQR& mat, HCoeffs& hCoeffs,
+                                       typename MatrixQR::Index maxBlockSize=32,
+                                       typename MatrixQR::Scalar* tempData = 0)
+{
+  typedef typename MatrixQR::Index Index;
+  typedef typename MatrixQR::Scalar Scalar;
+  typedef typename MatrixQR::RealScalar RealScalar;
+  typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
+
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+  Index size = (std::min)(rows, cols);
+
+  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(cols);
+    tempData = tempVector.data();
+  }
+
+  Index blockSize = (std::min)(maxBlockSize,size);
+
+  Index k = 0;
+  for (k = 0; k < size; k += blockSize)
+  {
+    Index bs = (std::min)(size-k,blockSize);  // actual size of the block
+    Index tcols = cols - k - bs;            // trailing columns
+    Index brows = rows-k;                   // rows of the block
+
+    // partition the matrix:
+    //        A00 | A01 | A02
+    // mat  = A10 | A11 | A12
+    //        A20 | A21 | A22
+    // and performs the qr dec of [A11^T A12^T]^T
+    // and update [A21^T A22^T]^T using level 3 operations.
+    // Finally, the algorithm continue on A22
+
+    BlockType A11_21 = mat.block(k,k,brows,bs);
+    Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
+
+    householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
+
+    if(tcols)
+    {
+      BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
+      apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+    }
+  }
+}
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<HouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(HouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index rows = dec().rows(), cols = dec().cols();
+    const Index rank = (std::min)(rows, cols);
+    eigen_assert(rhs().rows() == rows);
+
+    typename Rhs::PlainObject c(rhs());
+
+    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+    c.applyOnTheLeft(householderSequence(
+      dec().matrixQR().leftCols(rank),
+      dec().hCoeffs().head(rank)).transpose()
+    );
+
+    dec().matrixQR()
+       .topLeftCorner(rank, rank)
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(rank));
+
+    dst.topRows(rank) = c.topRows(rank);
+    dst.bottomRows(cols-rank).setZero();
+  }
+};
+
+} // end namespace internal
+
+template<typename MatrixType>
+HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = (std::min)(rows,cols);
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  internal::householder_qr_inplace_blocked(m_qr, m_hCoeffs, 48, m_temp.data());
+
+  m_isInitialized = true;
+  return *this;
+}
+
+/** \return the Householder QR decomposition of \c *this.
+  *
+  * \sa class HouseholderQR
+  */
+template<typename Derived>
+const HouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::householderQr() const
+{
+  return HouseholderQR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN_QR_H
diff --git a/extern/Eigen3/Eigen/src/SVD/JacobiSVD.h b/extern/Eigen3/Eigen/src/SVD/JacobiSVD.h
new file mode 100644
index 00000000000..5f61399988c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/SVD/JacobiSVD.h
@@ -0,0 +1,716 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_JACOBISVD_H
+#define EIGEN_JACOBISVD_H
+
+namespace internal {
+// forward declaration (needed by ICC)
+// the empty body is required by MSVC
+template<typename MatrixType, int QRPreconditioner,
+         bool IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct svd_precondition_2x2_block_to_be_real {};
+
+/*** QR preconditioners (R-SVD)
+ ***
+ *** Their role is to reduce the problem of computing the SVD to the case of a square matrix.
+ *** This approach, known as R-SVD, is an optimization for rectangular-enough matrices, and is a requirement for
+ *** JacobiSVD which by itself is only able to work on square matrices.
+ ***/
+
+enum { PreconditionIfMoreColsThanRows, PreconditionIfMoreRowsThanCols };
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+struct qr_preconditioner_should_do_anything
+{
+  enum { a = MatrixType::RowsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime <= MatrixType::RowsAtCompileTime,
+         b = MatrixType::RowsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime != Dynamic &&
+             MatrixType::RowsAtCompileTime <= MatrixType::ColsAtCompileTime,
+         ret = !( (QRPreconditioner == NoQRPreconditioner) ||
+                  (Case == PreconditionIfMoreColsThanRows && bool(a)) ||
+                  (Case == PreconditionIfMoreRowsThanCols && bool(b)) )
+  };
+};
+
+template<typename MatrixType, int QRPreconditioner, int Case,
+         bool DoAnything = qr_preconditioner_should_do_anything<MatrixType, QRPreconditioner, Case>::ret
+> struct qr_preconditioner_impl {};
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+struct qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
+{
+  static bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
+  {
+    return false;
+  }
+};
+
+/*** preconditioner using FullPivHouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      FullPivHouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.matrixQ();
+      if(svd.computeV()) svd.m_matrixV = qr.colsPermutation();
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      FullPivHouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.matrixQ();
+      if(svd.computeU()) svd.m_matrixU = qr.colsPermutation();
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** preconditioner using ColPivHouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      ColPivHouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.householderQ();
+      else if(svd.m_computeThinU) {
+        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixU);
+      }
+      if(svd.computeV()) svd.m_matrixV = qr.colsPermutation();
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      ColPivHouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.householderQ();
+      else if(svd.m_computeThinV) {
+        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixV);
+      }
+      if(svd.computeU()) svd.m_matrixU = qr.colsPermutation();
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** preconditioner using HouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      HouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.householderQ();
+      else if(svd.m_computeThinU) {
+        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixU);
+      }
+      if(svd.computeV()) svd.m_matrixV.setIdentity(matrix.cols(), matrix.cols());
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      HouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.householderQ();
+      else if(svd.m_computeThinV) {
+        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixV);
+      }
+      if(svd.computeU()) svd.m_matrixU.setIdentity(matrix.rows(), matrix.rows());
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** 2x2 SVD implementation
+ ***
+ *** JacobiSVD consists in performing a series of 2x2 SVD subproblems
+ ***/
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
+{
+  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+  typedef typename SVD::Index Index;
+  static void run(typename SVD::WorkMatrixType&, SVD&, Index, Index) {}
+};
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
+{
+  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename SVD::Index Index;
+  static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
+  {
+    Scalar z;
+    JacobiRotation<Scalar> rot;
+    RealScalar n = sqrt(abs2(work_matrix.coeff(p,p)) + abs2(work_matrix.coeff(q,p)));
+    if(n==0)
+    {
+      z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+      work_matrix.row(p) *= z;
+      if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
+      z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+      work_matrix.row(q) *= z;
+      if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+    }
+    else
+    {
+      rot.c() = conj(work_matrix.coeff(p,p)) / n;
+      rot.s() = work_matrix.coeff(q,p) / n;
+      work_matrix.applyOnTheLeft(p,q,rot);
+      if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
+      if(work_matrix.coeff(p,q) != Scalar(0))
+      {
+        Scalar z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        work_matrix.col(q) *= z;
+        if(svd.computeV()) svd.m_matrixV.col(q) *= z;
+      }
+      if(work_matrix.coeff(q,q) != Scalar(0))
+      {
+        z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+        work_matrix.row(q) *= z;
+        if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+      }
+    }
+  }
+};
+
+template<typename MatrixType, typename RealScalar, typename Index>
+void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
+                            JacobiRotation<RealScalar> *j_left,
+                            JacobiRotation<RealScalar> *j_right)
+{
+  Matrix<RealScalar,2,2> m;
+  m << real(matrix.coeff(p,p)), real(matrix.coeff(p,q)),
+       real(matrix.coeff(q,p)), real(matrix.coeff(q,q));
+  JacobiRotation<RealScalar> rot1;
+  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
+  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
+  if(t == RealScalar(0))
+  {
+    rot1.c() = RealScalar(0);
+    rot1.s() = d > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
+  }
+  else
+  {
+    RealScalar u = d / t;
+    rot1.c() = RealScalar(1) / sqrt(RealScalar(1) + abs2(u));
+    rot1.s() = rot1.c() * u;
+  }
+  m.applyOnTheLeft(0,1,rot1);
+  j_right->makeJacobi(m,0,1);
+  *j_left  = rot1 * j_right->transpose();
+}
+
+} // end namespace internal
+
+/** \ingroup SVD_Module
+  *
+  *
+  * \class JacobiSVD
+  *
+  * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
+  *
+  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
+  * \param QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
+  *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
+  *
+  * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
+  *   \f[ A = U S V^* \f]
+  * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
+  * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
+  * and right \em singular \em vectors of \a A respectively.
+  *
+  * Singular values are always sorted in decreasing order.
+  *
+  * This JacobiSVD decomposition computes only the singular values by default. If you want \a U or \a V, you need to ask for them explicitly.
+  *
+  * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
+  * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
+  * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
+  * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
+  *
+  * Here's an example demonstrating basic usage:
+  * \include JacobiSVD_basic.cpp
+  * Output: \verbinclude JacobiSVD_basic.out
+  * 
+  * This JacobiSVD class is a two-sided Jacobi R-SVD decomposition, ensuring optimal reliability and accuracy. The downside is that it's slower than
+  * bidiagonalizing SVD algorithms for large square matrices; however its complexity is still \f$ O(n^2p) \f$ where \a n is the smaller dimension and
+  * \a p is the greater dimension, meaning that it is still of the same order of complexity as the faster bidiagonalizing R-SVD algorithms.
+  * In particular, like any R-SVD, it takes advantage of non-squareness in that its complexity is only linear in the greater dimension.
+  *
+  * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+  * terminate in finite (and reasonable) time.
+  * 
+  * The possible values for QRPreconditioner are:
+  * \li ColPivHouseholderQRPreconditioner is the default. In practice it's very safe. It uses column-pivoting QR.
+  * \li FullPivHouseholderQRPreconditioner, is the safest and slowest. It uses full-pivoting QR.
+  *     Contrary to other QRs, it doesn't allow computing thin unitaries.
+  * \li HouseholderQRPreconditioner is the fastest, and less safe and accurate than the pivoting variants. It uses non-pivoting QR.
+  *     This is very similar in safety and accuracy to the bidiagonalization process used by bidiagonalizing SVD algorithms (since bidiagonalization
+  *     is inherently non-pivoting). However the resulting SVD is still more reliable than bidiagonalizing SVDs because the Jacobi-based iterarive
+  *     process is more reliable than the optimized bidiagonal SVD iterations.
+  * \li NoQRPreconditioner allows not to use a QR preconditioner at all. This is useful if you know that you will only be computing
+  *     JacobiSVD decompositions of square matrices. Non-square matrices require a QR preconditioner. Using this option will result in
+  *     faster compilation and smaller executable code. It won't significantly speed up computation, since JacobiSVD is always checking
+  *     if QR preconditioning is needed before applying it anyway.
+  *
+  * \sa MatrixBase::jacobiSvd()
+  */
+template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+      MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
+      MatrixOptions = MatrixType::Options
+    };
+
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
+                   MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
+            MatrixUType;
+    typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
+                   MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
+            MatrixVType;
+    typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowType;
+    typedef typename internal::plain_col_type<MatrixType>::type ColType;
+    typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
+                   MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
+            WorkMatrixType;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via JacobiSVD::compute(const MatrixType&).
+      */
+    JacobiSVD()
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {}
+
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem size.
+      * \sa JacobiSVD()
+      */
+    JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {
+      allocate(rows, cols, computationOptions);
+    }
+
+    /** \brief Constructor performing the decomposition of given matrix.
+     *
+     * \param matrix the matrix to decompose
+     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
+     *                           #ComputeFullV, #ComputeThinV.
+     *
+     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+     * available with the (non-default) FullPivHouseholderQR preconditioner.
+     */
+    JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {
+      compute(matrix, computationOptions);
+    }
+
+    /** \brief Method performing the decomposition of given matrix using custom options.
+     *
+     * \param matrix the matrix to decompose
+     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
+     *                           #ComputeFullV, #ComputeThinV.
+     *
+     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+     * available with the (non-default) FullPivHouseholderQR preconditioner.
+     */
+    JacobiSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+    /** \brief Method performing the decomposition of given matrix using current options.
+     *
+     * \param matrix the matrix to decompose
+     *
+     * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+     */
+    JacobiSVD& compute(const MatrixType& matrix)
+    {
+      return compute(matrix, m_computationOptions);
+    }
+
+    /** \returns the \a U matrix.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+     * the U matrix is n-by-n if you asked for #ComputeFullU, and is n-by-m if you asked for #ComputeThinU.
+     *
+     * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
+     *
+     * This method asserts that you asked for \a U to be computed.
+     */
+    const MatrixUType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeU() && "This JacobiSVD decomposition didn't compute U. Did you ask for it?");
+      return m_matrixU;
+    }
+
+    /** \returns the \a V matrix.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+     * the V matrix is p-by-p if you asked for #ComputeFullV, and is p-by-m if you asked for ComputeThinV.
+     *
+     * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
+     *
+     * This method asserts that you asked for \a V to be computed.
+     */
+    const MatrixVType& matrixV() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?");
+      return m_matrixV;
+    }
+
+    /** \returns the vector of singular values.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
+     * returned vector has size \a m.  Singular values are always sorted in decreasing order.
+     */
+    const SingularValuesType& singularValues() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      return m_singularValues;
+    }
+
+    /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
+    inline bool computeU() const { return m_computeFullU || m_computeThinU; }
+    /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
+    inline bool computeV() const { return m_computeFullV || m_computeThinV; }
+
+    /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
+      * 
+      * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
+      * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<JacobiSVD, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeU() && computeV() && "JacobiSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
+      return internal::solve_retval<JacobiSVD, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the number of singular values that are not exactly 0 */
+    Index nonzeroSingularValues() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      return m_nonzeroSingularValues;
+    }
+
+    inline Index rows() const { return m_rows; }
+    inline Index cols() const { return m_cols; }
+
+  private:
+    void allocate(Index rows, Index cols, unsigned int computationOptions);
+
+  protected:
+    MatrixUType m_matrixU;
+    MatrixVType m_matrixV;
+    SingularValuesType m_singularValues;
+    WorkMatrixType m_workMatrix;
+    bool m_isInitialized, m_isAllocated;
+    bool m_computeFullU, m_computeThinU;
+    bool m_computeFullV, m_computeThinV;
+    unsigned int m_computationOptions;
+    Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
+
+    template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
+    friend struct internal::svd_precondition_2x2_block_to_be_real;
+    template<typename __MatrixType, int _QRPreconditioner, int _Case, bool _DoAnything>
+    friend struct internal::qr_preconditioner_impl;
+};
+
+template<typename MatrixType, int QRPreconditioner>
+void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+  eigen_assert(rows >= 0 && cols >= 0);
+
+  if (m_isAllocated &&
+      rows == m_rows &&
+      cols == m_cols &&
+      computationOptions == m_computationOptions)
+  {
+    return;
+  }
+
+  m_rows = rows;
+  m_cols = cols;
+  m_isInitialized = false;
+  m_isAllocated = true;
+  m_computationOptions = computationOptions;
+  m_computeFullU = (computationOptions & ComputeFullU) != 0;
+  m_computeThinU = (computationOptions & ComputeThinU) != 0;
+  m_computeFullV = (computationOptions & ComputeFullV) != 0;
+  m_computeThinV = (computationOptions & ComputeThinV) != 0;
+  eigen_assert(!(m_computeFullU && m_computeThinU) && "JacobiSVD: you can't ask for both full and thin U");
+  eigen_assert(!(m_computeFullV && m_computeThinV) && "JacobiSVD: you can't ask for both full and thin V");
+  eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
+              "JacobiSVD: thin U and V are only available when your matrix has a dynamic number of columns.");
+  if (QRPreconditioner == FullPivHouseholderQRPreconditioner)
+  {
+      eigen_assert(!(m_computeThinU || m_computeThinV) &&
+              "JacobiSVD: can't compute thin U or thin V with the FullPivHouseholderQR preconditioner. "
+              "Use the ColPivHouseholderQR preconditioner instead.");
+  }
+  m_diagSize = (std::min)(m_rows, m_cols);
+  m_singularValues.resize(m_diagSize);
+  m_matrixU.resize(m_rows, m_computeFullU ? m_rows
+                          : m_computeThinU ? m_diagSize
+                          : 0);
+  m_matrixV.resize(m_cols, m_computeFullV ? m_cols
+                          : m_computeThinV ? m_diagSize
+                          : 0);
+  m_workMatrix.resize(m_diagSize, m_diagSize);
+}
+
+template<typename MatrixType, int QRPreconditioner>
+JacobiSVD<MatrixType, QRPreconditioner>&
+JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
+{
+  allocate(matrix.rows(), matrix.cols(), computationOptions);
+
+  // currently we stop when we reach precision 2*epsilon as the last bit of precision can require an unreasonable number of iterations,
+  // only worsening the precision of U and V as we accumulate more rotations
+  const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
+
+  /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
+
+  if(!internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows>::run(*this, matrix)
+  && !internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreRowsThanCols>::run(*this, matrix))
+  {
+    m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize);
+    if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
+    if(m_computeThinU) m_matrixU.setIdentity(m_rows,m_diagSize);
+    if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
+    if(m_computeThinV) m_matrixV.setIdentity(m_cols, m_diagSize);
+  }
+
+  /*** step 2. The main Jacobi SVD iteration. ***/
+
+  bool finished = false;
+  while(!finished)
+  {
+    finished = true;
+
+    // do a sweep: for all index pairs (p,q), perform SVD of the corresponding 2x2 sub-matrix
+
+    for(Index p = 1; p < m_diagSize; ++p)
+    {
+      for(Index q = 0; q < p; ++q)
+      {
+        // if this 2x2 sub-matrix is not diagonal already...
+        // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
+        // keep us iterating forever.
+        using std::max;
+        if((max)(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p)))
+            > (max)(internal::abs(m_workMatrix.coeff(p,p)),internal::abs(m_workMatrix.coeff(q,q)))*precision)
+        {
+          finished = false;
+
+          // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
+          internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
+          JacobiRotation<RealScalar> j_left, j_right;
+          internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
+
+          // accumulate resulting Jacobi rotations
+          m_workMatrix.applyOnTheLeft(p,q,j_left);
+          if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
+
+          m_workMatrix.applyOnTheRight(p,q,j_right);
+          if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+        }
+      }
+    }
+  }
+
+  /*** step 3. The work matrix is now diagonal, so ensure it's positive so its diagonal entries are the singular values ***/
+
+  for(Index i = 0; i < m_diagSize; ++i)
+  {
+    RealScalar a = internal::abs(m_workMatrix.coeff(i,i));
+    m_singularValues.coeffRef(i) = a;
+    if(computeU() && (a!=RealScalar(0))) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+  }
+
+  /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
+
+  m_nonzeroSingularValues = m_diagSize;
+  for(Index i = 0; i < m_diagSize; i++)
+  {
+    Index pos;
+    RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
+    if(maxRemainingSingularValue == RealScalar(0))
+    {
+      m_nonzeroSingularValues = i;
+      break;
+    }
+    if(pos)
+    {
+      pos += i;
+      std::swap(m_singularValues.coeffRef(i), m_singularValues.coeffRef(pos));
+      if(computeU()) m_matrixU.col(pos).swap(m_matrixU.col(i));
+      if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
+    }
+  }
+
+  m_isInitialized = true;
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int QRPreconditioner, typename Rhs>
+struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
+  : solve_retval_base<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
+{
+  typedef JacobiSVD<_MatrixType, QRPreconditioner> JacobiSVDType;
+  EIGEN_MAKE_SOLVE_HELPERS(JacobiSVDType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().rows());
+
+    // A = U S V^*
+    // So A^{-1} = V S^{-1} U^*
+
+    Index diagSize = (std::min)(dec().rows(), dec().cols());
+    typename JacobiSVDType::SingularValuesType invertedSingVals(diagSize);
+
+    Index nonzeroSingVals = dec().nonzeroSingularValues();
+    invertedSingVals.head(nonzeroSingVals) = dec().singularValues().head(nonzeroSingVals).array().inverse();
+    invertedSingVals.tail(diagSize - nonzeroSingVals).setZero();
+
+    dst = dec().matrixV().leftCols(diagSize)
+        * invertedSingVals.asDiagonal()
+        * dec().matrixU().leftCols(diagSize).adjoint()
+        * rhs();
+  }
+};
+} // end namespace internal
+
+template<typename Derived>
+JacobiSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const
+{
+  return JacobiSVD<PlainObject>(*this, computationOptions);
+}
+
+
+
+#endif // EIGEN_JACOBISVD_H
diff --git a/extern/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h b/extern/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h
new file mode 100644
index 00000000000..2de197da953
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h
@@ -0,0 +1,159 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BIDIAGONALIZATION_H
+#define EIGEN_BIDIAGONALIZATION_H
+
+namespace internal {
+// UpperBidiagonalization will probably be replaced by a Bidiagonalization class, don't want to make it stable API.
+// At the same time, it's useful to keep for now as it's about the only thing that is testing the BandMatrix class.
+
+template<typename _MatrixType> class UpperBidiagonalization
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      ColsAtCompileTimeMinusOne = internal::decrement_size<ColsAtCompileTime>::ret
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
+    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0> BidiagonalType;
+    typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
+    typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
+    typedef HouseholderSequence<
+              const MatrixType,
+              CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Diagonal<const MatrixType,0> >
+            > HouseholderUSequenceType;
+    typedef HouseholderSequence<
+              const MatrixType,
+              Diagonal<const MatrixType,1>,
+              OnTheRight
+            > HouseholderVSequenceType;
+    
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via Bidiagonalization::compute(const MatrixType&).
+    */
+    UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
+
+    UpperBidiagonalization(const MatrixType& matrix)
+      : m_householder(matrix.rows(), matrix.cols()),
+        m_bidiagonal(matrix.cols(), matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+    
+    UpperBidiagonalization& compute(const MatrixType& matrix);
+    
+    const MatrixType& householder() const { return m_householder; }
+    const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
+    
+    const HouseholderUSequenceType householderU() const
+    {
+      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+      return HouseholderUSequenceType(m_householder, m_householder.diagonal().conjugate());
+    }
+
+    const HouseholderVSequenceType householderV() // const here gives nasty errors and i'm lazy
+    {
+      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+      return HouseholderVSequenceType(m_householder, m_householder.const_derived().template diagonal<1>())
+             .setLength(m_householder.cols()-1)
+             .setShift(1);
+    }
+    
+  protected:
+    MatrixType m_householder;
+    BidiagonalType m_bidiagonal;
+    bool m_isInitialized;
+};
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for matrices satisfying rows>=cols.");
+  
+  m_householder = matrix;
+
+  ColVectorType temp(rows);
+
+  for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
+  {
+    Index remainingRows = rows - k;
+    Index remainingCols = cols - k - 1;
+
+    // construct left householder transform in-place in m_householder
+    m_householder.col(k).tail(remainingRows)
+                 .makeHouseholderInPlace(m_householder.coeffRef(k,k),
+                                         m_bidiagonal.template diagonal<0>().coeffRef(k));
+    // apply householder transform to remaining part of m_householder on the left
+    m_householder.bottomRightCorner(remainingRows, remainingCols)
+                 .applyHouseholderOnTheLeft(m_householder.col(k).tail(remainingRows-1),
+                                            m_householder.coeff(k,k),
+                                            temp.data());
+
+    if(k == cols-1) break;
+    
+    // construct right householder transform in-place in m_householder
+    m_householder.row(k).tail(remainingCols)
+                 .makeHouseholderInPlace(m_householder.coeffRef(k,k+1),
+                                         m_bidiagonal.template diagonal<1>().coeffRef(k));
+    // apply householder transform to remaining part of m_householder on the left
+    m_householder.bottomRightCorner(remainingRows-1, remainingCols)
+                 .applyHouseholderOnTheRight(m_householder.row(k).tail(remainingCols-1).transpose(),
+                                             m_householder.coeff(k,k+1),
+                                             temp.data());
+  }
+  m_isInitialized = true;
+  return *this;
+}
+
+#if 0
+/** \return the Householder QR decomposition of \c *this.
+  *
+  * \sa class Bidiagonalization
+  */
+template<typename Derived>
+const UpperBidiagonalization<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bidiagonalization() const
+{
+  return UpperBidiagonalization<PlainObject>(eval());
+}
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_BIDIAGONALIZATION_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/AmbiVector.h b/extern/Eigen3/Eigen/src/Sparse/AmbiVector.h
index f279e80f00a..2ea8ba3096b 100644
--- a/extern/Eigen2/Eigen/src/Sparse/AmbiVector.h
+++ b/extern/Eigen3/Eigen/src/Sparse/AmbiVector.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -30,54 +30,57 @@
   *
   * See BasicSparseLLT and SparseProduct for usage examples.
   */
-template<typename _Scalar> class AmbiVector
+template<typename _Scalar, typename _Index>
+class AmbiVector
 {
   public:
     typedef _Scalar Scalar;
+    typedef _Index Index;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    AmbiVector(int size)
-      : m_buffer(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
+
+    AmbiVector(Index size)
+      : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
     {
       resize(size);
     }
 
-    void init(RealScalar estimatedDensity);
+    void init(double estimatedDensity);
     void init(int mode);
 
-    void nonZeros() const;
+    Index nonZeros() const;
 
     /** Specifies a sub-vector to work on */
-    void setBounds(int start, int end) { m_start = start; m_end = end; }
+    void setBounds(Index start, Index end) { m_start = start; m_end = end; }
 
     void setZero();
 
     void restart();
-    Scalar& coeffRef(int i);
-    Scalar coeff(int i);
+    Scalar& coeffRef(Index i);
+    Scalar& coeff(Index i);
 
     class Iterator;
 
     ~AmbiVector() { delete[] m_buffer; }
 
-    void resize(int size)
+    void resize(Index size)
     {
       if (m_allocatedSize < size)
         reallocate(size);
       m_size = size;
     }
 
-    int size() const { return m_size; }
+    Index size() const { return m_size; }
 
   protected:
 
-    void reallocate(int size)
+    void reallocate(Index size)
     {
       // if the size of the matrix is not too large, let's allocate a bit more than needed such
       // that we can handle dense vector even in sparse mode.
       delete[] m_buffer;
       if (size<1000)
       {
-        int allocSize = (size * sizeof(ListEl))/sizeof(Scalar);
+        Index allocSize = (size * sizeof(ListEl))/sizeof(Scalar);
         m_allocatedElements = (allocSize*sizeof(Scalar))/sizeof(ListEl);
         m_buffer = new Scalar[allocSize];
       }
@@ -93,9 +96,9 @@ template<typename _Scalar> class AmbiVector
 
     void reallocateSparse()
     {
-      int copyElements = m_allocatedElements;
-      m_allocatedElements = std::min(int(m_allocatedElements*1.5),m_size);
-      int allocSize = m_allocatedElements * sizeof(ListEl);
+      Index copyElements = m_allocatedElements;
+      m_allocatedElements = (std::min)(Index(m_allocatedElements*1.5),m_size);
+      Index allocSize = m_allocatedElements * sizeof(ListEl);
       allocSize = allocSize/sizeof(Scalar) + (allocSize%sizeof(Scalar)>0?1:0);
       Scalar* newBuffer = new Scalar[allocSize];
       memcpy(newBuffer,  m_buffer,  copyElements * sizeof(ListEl));
@@ -107,33 +110,30 @@ template<typename _Scalar> class AmbiVector
     // element type of the linked list
     struct ListEl
     {
-      int next;
-      int index;
+      Index next;
+      Index index;
       Scalar value;
     };
 
     // used to store data in both mode
     Scalar* m_buffer;
-    int m_size;
-    int m_start;
-    int m_end;
-    int m_allocatedSize;
-    int m_allocatedElements;
-    int m_mode;
+    Scalar m_zero;
+    Index m_size;
+    Index m_start;
+    Index m_end;
+    Index m_allocatedSize;
+    Index m_allocatedElements;
+    Index m_mode;
 
     // linked list mode
-    int m_llStart;
-    int m_llCurrent;
-    int m_llSize;
-
-  private:
-    AmbiVector(const AmbiVector&);
-
+    Index m_llStart;
+    Index m_llCurrent;
+    Index m_llSize;
 };
 
 /** \returns the number of non zeros in the current sub vector */
-template<typename Scalar>
-void AmbiVector<Scalar>::nonZeros() const
+template<typename _Scalar,typename _Index>
+_Index AmbiVector<_Scalar,_Index>::nonZeros() const
 {
   if (m_mode==IsSparse)
     return m_llSize;
@@ -141,8 +141,8 @@ void AmbiVector<Scalar>::nonZeros() const
     return m_end - m_start;
 }
 
-template<typename Scalar>
-void AmbiVector<Scalar>::init(RealScalar estimatedDensity)
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
 {
   if (estimatedDensity>0.1)
     init(IsDense);
@@ -150,8 +150,8 @@ void AmbiVector<Scalar>::init(RealScalar estimatedDensity)
     init(IsSparse);
 }
 
-template<typename Scalar>
-void AmbiVector<Scalar>::init(int mode)
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::init(int mode)
 {
   m_mode = mode;
   if (m_mode==IsSparse)
@@ -166,31 +166,31 @@ void AmbiVector<Scalar>::init(int mode)
   *
   * Don't worry, this function is extremely cheap.
   */
-template<typename Scalar>
-void AmbiVector<Scalar>::restart()
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::restart()
 {
   m_llCurrent = m_llStart;
 }
 
 /** Set all coefficients of current subvector to zero */
-template<typename Scalar>
-void AmbiVector<Scalar>::setZero()
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::setZero()
 {
   if (m_mode==IsDense)
   {
-    for (int i=m_start; i<m_end; ++i)
+    for (Index i=m_start; i<m_end; ++i)
       m_buffer[i] = Scalar(0);
   }
   else
   {
-    ei_assert(m_mode==IsSparse);
+    eigen_assert(m_mode==IsSparse);
     m_llSize = 0;
     m_llStart = -1;
   }
 }
 
-template<typename Scalar>
-Scalar& AmbiVector<Scalar>::coeffRef(int i)
+template<typename _Scalar,typename _Index>
+_Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
@@ -198,7 +198,7 @@ Scalar& AmbiVector<Scalar>::coeffRef(int i)
   {
     ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
     // TODO factorize the following code to reduce code generation
-    ei_assert(m_mode==IsSparse);
+    eigen_assert(m_mode==IsSparse);
     if (m_llSize==0)
     {
       // this is the first element
@@ -224,8 +224,8 @@ Scalar& AmbiVector<Scalar>::coeffRef(int i)
     }
     else
     {
-      int nextel = llElements[m_llCurrent].next;
-      ei_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
+      Index nextel = llElements[m_llCurrent].next;
+      eigen_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
       while (nextel >= 0 && llElements[nextel].index<=i)
       {
         m_llCurrent = nextel;
@@ -244,7 +244,7 @@ Scalar& AmbiVector<Scalar>::coeffRef(int i)
           reallocateSparse();
           llElements = reinterpret_cast<ListEl*>(m_buffer);
         }
-        ei_internal_assert(m_llSize<m_allocatedElements && "internal error: overflow in sparse mode");
+        eigen_internal_assert(m_llSize<m_allocatedElements && "internal error: overflow in sparse mode");
         // let's insert a new coefficient
         ListEl& el = llElements[m_llSize];
         el.value = Scalar(0);
@@ -258,36 +258,36 @@ Scalar& AmbiVector<Scalar>::coeffRef(int i)
   }
 }
 
-template<typename Scalar>
-Scalar AmbiVector<Scalar>::coeff(int i)
+template<typename _Scalar,typename _Index>
+_Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
   else
   {
     ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
-    ei_assert(m_mode==IsSparse);
+    eigen_assert(m_mode==IsSparse);
     if ((m_llSize==0) || (i<llElements[m_llStart].index))
     {
-      return Scalar(0);
+      return m_zero;
     }
     else
     {
-      int elid = m_llStart;
+      Index elid = m_llStart;
       while (elid >= 0 && llElements[elid].index<i)
         elid = llElements[elid].next;
 
       if (llElements[elid].index==i)
         return llElements[m_llCurrent].value;
       else
-        return Scalar(0);
+        return m_zero;
     }
   }
 }
 
 /** Iterator over the nonzero coefficients */
-template<typename _Scalar>
-class AmbiVector<_Scalar>::Iterator
+template<typename _Scalar,typename _Index>
+class AmbiVector<_Scalar,_Index>::Iterator
 {
   public:
     typedef _Scalar Scalar;
@@ -299,13 +299,15 @@ class AmbiVector<_Scalar>::Iterator
       * In practice, all coefficients having a magnitude smaller than \a epsilon
       * are skipped.
       */
-    Iterator(const AmbiVector& vec, RealScalar epsilon = RealScalar(0.1)*precision<RealScalar>())
+    Iterator(const AmbiVector& vec, RealScalar epsilon = RealScalar(0.1)*NumTraits<RealScalar>::dummy_precision())
       : m_vector(vec)
     {
       m_epsilon = epsilon;
       m_isDense = m_vector.m_mode==IsDense;
       if (m_isDense)
       {
+        m_currentEl = 0;   // this is to avoid a compilation warning
+        m_cachedValue = 0; // this is to avoid a compilation warning
         m_cachedIndex = m_vector.m_start-1;
         ++(*this);
       }
@@ -313,10 +315,11 @@ class AmbiVector<_Scalar>::Iterator
       {
         ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
         m_currentEl = m_vector.m_llStart;
-        while (m_currentEl>=0 && ei_abs(llElements[m_currentEl].value)<m_epsilon)
+        while (m_currentEl>=0 && internal::abs(llElements[m_currentEl].value)<m_epsilon)
           m_currentEl = llElements[m_currentEl].next;
         if (m_currentEl<0)
         {
+          m_cachedValue = 0; // this is to avoid a compilation warning
           m_cachedIndex = -1;
         }
         else
@@ -327,7 +330,7 @@ class AmbiVector<_Scalar>::Iterator
       }
     }
 
-    int index() const { return m_cachedIndex; }
+    Index index() const { return m_cachedIndex; }
     Scalar value() const { return m_cachedValue; }
 
     operator bool() const { return m_cachedIndex>=0; }
@@ -338,7 +341,7 @@ class AmbiVector<_Scalar>::Iterator
       {
         do {
           ++m_cachedIndex;
-        } while (m_cachedIndex<m_vector.m_end && ei_abs(m_vector.m_buffer[m_cachedIndex])<m_epsilon);
+        } while (m_cachedIndex<m_vector.m_end && internal::abs(m_vector.m_buffer[m_cachedIndex])<m_epsilon);
         if (m_cachedIndex<m_vector.m_end)
           m_cachedValue = m_vector.m_buffer[m_cachedIndex];
         else
@@ -349,7 +352,7 @@ class AmbiVector<_Scalar>::Iterator
         ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
         do {
           m_currentEl = llElements[m_currentEl].next;
-        } while (m_currentEl>=0 && ei_abs(llElements[m_currentEl].value)<m_epsilon);
+        } while (m_currentEl>=0 && internal::abs(llElements[m_currentEl].value)<m_epsilon);
         if (m_currentEl<0)
         {
           m_cachedIndex = -1;
@@ -365,14 +368,11 @@ class AmbiVector<_Scalar>::Iterator
 
   protected:
     const AmbiVector& m_vector; // the target vector
-    int m_currentEl;            // the current element in sparse/linked-list mode
+    Index m_currentEl;            // the current element in sparse/linked-list mode
     RealScalar m_epsilon;       // epsilon used to prune zero coefficients
-    int m_cachedIndex;          // current coordinate
+    Index m_cachedIndex;          // current coordinate
     Scalar m_cachedValue;       // current value
     bool m_isDense;             // mode of the vector
-
-  private:
-    Iterator& operator=(const Iterator&);
 };
 
 
diff --git a/extern/Eigen2/Eigen/src/Sparse/CompressedStorage.h b/extern/Eigen3/Eigen/src/Sparse/CompressedStorage.h
index 4dbd3230985..b3bde272ec2 100644
--- a/extern/Eigen2/Eigen/src/Sparse/CompressedStorage.h
+++ b/extern/Eigen3/Eigen/src/Sparse/CompressedStorage.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -28,11 +28,20 @@
 /** Stores a sparse set of values as a list of values and a list of indices.
   *
   */
-template<typename Scalar>
+template<typename _Scalar,typename _Index>
 class CompressedStorage
 {
+  public:
+
+    typedef _Scalar Scalar;
+    typedef _Index Index;
+
+  protected:
+
     typedef typename NumTraits<Scalar>::Real RealScalar;
+
   public:
+
     CompressedStorage()
       : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
     {}
@@ -53,7 +62,7 @@ class CompressedStorage
     {
       resize(other.size());
       memcpy(m_values, other.m_values, m_size * sizeof(Scalar));
-      memcpy(m_indices, other.m_indices, m_size * sizeof(int));
+      memcpy(m_indices, other.m_indices, m_size * sizeof(Index));
       return *this;
     }
 
@@ -91,9 +100,9 @@ class CompressedStorage
       m_size = size;
     }
 
-    void append(const Scalar& v, int i)
+    void append(const Scalar& v, Index i)
     {
-      int id = m_size;
+      Index id = static_cast<Index>(m_size);
       resize(m_size+1, 1);
       m_values[id] = v;
       m_indices[id] = i;
@@ -106,10 +115,10 @@ class CompressedStorage
     inline Scalar& value(size_t i) { return m_values[i]; }
     inline const Scalar& value(size_t i) const { return m_values[i]; }
 
-    inline int& index(size_t i) { return m_indices[i]; }
-    inline const int& index(size_t i) const { return m_indices[i]; }
+    inline Index& index(size_t i) { return m_indices[i]; }
+    inline const Index& index(size_t i) const { return m_indices[i]; }
 
-    static CompressedStorage Map(int* indices, Scalar* values, size_t size)
+    static CompressedStorage Map(Index* indices, Scalar* values, size_t size)
     {
       CompressedStorage res;
       res.m_indices = indices;
@@ -117,15 +126,15 @@ class CompressedStorage
       res.m_allocatedSize = res.m_size = size;
       return res;
     }
-    
+
     /** \returns the largest \c k such that for all \c j in [0,k) index[\c j]\<\a key */
-    inline int searchLowerIndex(int key) const
+    inline Index searchLowerIndex(Index key) const
     {
       return searchLowerIndex(0, m_size, key);
     }
-    
+
     /** \returns the largest \c k in [start,end) such that for all \c j in [start,k) index[\c j]\<\a key */
-    inline int searchLowerIndex(size_t start, size_t end, int key) const
+    inline Index searchLowerIndex(size_t start, size_t end, Index key) const
     {
       while(end>start)
       {
@@ -135,12 +144,12 @@ class CompressedStorage
         else
           end = mid;
       }
-      return start;
+      return static_cast<Index>(start);
     }
-    
+
     /** \returns the stored value at index \a key
       * If the value does not exist, then the value \a defaultValue is returned without any insertion. */
-    inline Scalar at(int key, Scalar defaultValue = Scalar(0)) const
+    inline Scalar at(Index key, Scalar defaultValue = Scalar(0)) const
     {
       if (m_size==0)
         return defaultValue;
@@ -151,11 +160,11 @@ class CompressedStorage
       const size_t id = searchLowerIndex(0,m_size-1,key);
       return ((id<m_size) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
-    
+
     /** Like at(), but the search is performed in the range [start,end) */
-    inline Scalar atInRange(size_t start, size_t end, int key, Scalar defaultValue = Scalar(0)) const
+    inline Scalar atInRange(size_t start, size_t end, Index key, Scalar defaultValue = Scalar(0)) const
     {
-      if (start==end)
+      if (start>=end)
         return Scalar(0);
       else if (end>start && key==m_indices[end-1])
         return m_values[end-1];
@@ -164,11 +173,11 @@ class CompressedStorage
       const size_t id = searchLowerIndex(start,end-1,key);
       return ((id<end) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
-    
+
     /** \returns a reference to the value at index \a key
       * If the value does not exist, then the value \a defaultValue is inserted
       * such that the keys are sorted. */
-    inline Scalar& atWithInsertion(int key, Scalar defaultValue = Scalar(0))
+    inline Scalar& atWithInsertion(Index key, Scalar defaultValue = Scalar(0))
     {
       size_t id = searchLowerIndex(0,m_size,key);
       if (id>=m_size || m_indices[id]!=key)
@@ -184,14 +193,14 @@ class CompressedStorage
       }
       return m_values[id];
     }
-    
-    void prune(Scalar reference, RealScalar epsilon = precision<RealScalar>())
+
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       size_t k = 0;
       size_t n = size();
       for (size_t i=0; i<n; ++i)
       {
-        if (!ei_isMuchSmallerThan(value(i), reference, epsilon))
+        if (!internal::isMuchSmallerThan(value(i), reference, epsilon))
         {
           value(k) = value(i);
           index(k) = index(i);
@@ -206,11 +215,11 @@ class CompressedStorage
     inline void reallocate(size_t size)
     {
       Scalar* newValues  = new Scalar[size];
-      int* newIndices = new int[size];
-      size_t copySize = std::min(size, m_size);
+      Index* newIndices = new Index[size];
+      size_t copySize = (std::min)(size, m_size);
       // copy
       memcpy(newValues,  m_values,  copySize * sizeof(Scalar));
-      memcpy(newIndices, m_indices, copySize * sizeof(int));
+      memcpy(newIndices, m_indices, copySize * sizeof(Index));
       // delete old stuff
       delete[] m_values;
       delete[] m_indices;
@@ -221,7 +230,7 @@ class CompressedStorage
 
   protected:
     Scalar* m_values;
-    int* m_indices;
+    Index* m_indices;
     size_t m_size;
     size_t m_allocatedSize;
 
diff --git a/extern/Eigen2/Eigen/src/Sparse/CoreIterators.h b/extern/Eigen3/Eigen/src/Sparse/CoreIterators.h
index f1520a585ca..b4beaeee69e 100644
--- a/extern/Eigen2/Eigen/src/Sparse/CoreIterators.h
+++ b/extern/Eigen3/Eigen/src/Sparse/CoreIterators.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -35,13 +35,16 @@
   */
 
 // generic version for dense matrix and expressions
-template<typename Derived> class MatrixBase<Derived>::InnerIterator
+template<typename Derived> class DenseBase<Derived>::InnerIterator
 {
+  protected:
     typedef typename Derived::Scalar Scalar;
+    typedef typename Derived::Index Index;
+
     enum { IsRowMajor = (Derived::Flags&RowMajorBit)==RowMajorBit };
   public:
-    EIGEN_STRONG_INLINE InnerIterator(const Derived& expr, int outer)
-      : m_expression(expr), m_inner(0), m_outer(outer), m_end(expr.rows())
+    EIGEN_STRONG_INLINE InnerIterator(const Derived& expr, Index outer)
+      : m_expression(expr), m_inner(0), m_outer(outer), m_end(expr.innerSize())
     {}
 
     EIGEN_STRONG_INLINE Scalar value() const
@@ -52,17 +55,17 @@ template<typename Derived> class MatrixBase<Derived>::InnerIterator
 
     EIGEN_STRONG_INLINE InnerIterator& operator++() { m_inner++; return *this; }
 
-    EIGEN_STRONG_INLINE int index() const { return m_inner; }
-    inline int row() const { return IsRowMajor ? m_outer : index(); }
-    inline int col() const { return IsRowMajor ? index() : m_outer; }
+    EIGEN_STRONG_INLINE Index index() const { return m_inner; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
 
     EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
 
   protected:
     const Derived& m_expression;
-    int m_inner;
-    const int m_outer;
-    const int m_end;
+    Index m_inner;
+    const Index m_outer;
+    const Index m_end;
 };
 
 #endif // EIGEN_COREITERATORS_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/DynamicSparseMatrix.h b/extern/Eigen3/Eigen/src/Sparse/DynamicSparseMatrix.h
index 01f97cd6d94..93e75f4c601 100644
--- a/extern/Eigen2/Eigen/src/Sparse/DynamicSparseMatrix.h
+++ b/extern/Eigen3/Eigen/src/Sparse/DynamicSparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -35,65 +35,75 @@
   * random read/write accesses in log(rho*outer_size) where \c rho is the probability that a coefficient is
   * nonzero and outer_size is the number of columns if the matrix is column-major and the number of rows
   * otherwise.
-  * 
+  *
   * Internally, the data are stored as a std::vector of compressed vector. The performances of random writes might
   * decrease as the number of nonzeros per inner-vector increase. In practice, we observed very good performance
   * till about 100 nonzeros/vector, and the performance remains relatively good till 500 nonzeros/vectors.
   *
   * \see SparseMatrix
   */
-template<typename _Scalar, int _Flags>
-struct ei_traits<DynamicSparseMatrix<_Scalar, _Flags> >
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<DynamicSparseMatrix<_Scalar, _Options, _Index> >
 {
   typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
   enum {
     RowsAtCompileTime = Dynamic,
     ColsAtCompileTime = Dynamic,
     MaxRowsAtCompileTime = Dynamic,
     MaxColsAtCompileTime = Dynamic,
-    Flags = SparseBit | _Flags,
+    Flags = _Options | NestByRefBit | LvalueBit,
     CoeffReadCost = NumTraits<Scalar>::ReadCost,
     SupportedAccessPatterns = OuterRandomAccessPattern
   };
 };
+}
 
-template<typename _Scalar, int _Flags>
+template<typename _Scalar, int _Options, typename _Index>
 class DynamicSparseMatrix
-  : public SparseMatrixBase<DynamicSparseMatrix<_Scalar, _Flags> >
+  : public SparseMatrixBase<DynamicSparseMatrix<_Scalar, _Options, _Index> >
 {
   public:
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(DynamicSparseMatrix)
+    EIGEN_SPARSE_PUBLIC_INTERFACE(DynamicSparseMatrix)
     // FIXME: why are these operator already alvailable ???
     // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, +=)
     // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, -=)
     typedef MappedSparseMatrix<Scalar,Flags> Map;
+    using Base::IsRowMajor;
+    using Base::operator=;
+    enum {
+      Options = _Options
+    };
 
   protected:
 
-    enum { IsRowMajor = Base::IsRowMajor };
     typedef DynamicSparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
 
-    int m_innerSize;
-    std::vector<CompressedStorage<Scalar> > m_data;
+    Index m_innerSize;
+    std::vector<CompressedStorage<Scalar,Index> > m_data;
 
   public:
-  
-    inline int rows() const { return IsRowMajor ? outerSize() : m_innerSize; }
-    inline int cols() const { return IsRowMajor ? m_innerSize : outerSize(); }
-    inline int innerSize() const { return m_innerSize; }
-    inline int outerSize() const { return m_data.size(); }
-    inline int innerNonZeros(int j) const { return m_data[j].size(); }
-    
-    std::vector<CompressedStorage<Scalar> >& _data() { return m_data; }
-    const std::vector<CompressedStorage<Scalar> >& _data() const { return m_data; }
+
+    inline Index rows() const { return IsRowMajor ? outerSize() : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : outerSize(); }
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return static_cast<Index>(m_data.size()); }
+    inline Index innerNonZeros(Index j) const { return m_data[j].size(); }
+
+    std::vector<CompressedStorage<Scalar,Index> >& _data() { return m_data; }
+    const std::vector<CompressedStorage<Scalar,Index> >& _data() const { return m_data; }
 
     /** \returns the coefficient value at given position \a row, \a col
       * This operation involes a log(rho*outer_size) binary search.
       */
-    inline Scalar coeff(int row, int col) const
+    inline Scalar coeff(Index row, Index col) const
     {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
       return m_data[outer].at(inner);
     }
 
@@ -101,73 +111,74 @@ class DynamicSparseMatrix
       * This operation involes a log(rho*outer_size) binary search. If the coefficient does not
       * exist yet, then a sorted insertion into a sequential buffer is performed.
       */
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
       return m_data[outer].atWithInsertion(inner);
     }
 
     class InnerIterator;
 
-    inline void setZero()
+    void setZero()
     {
-      for (int j=0; j<outerSize(); ++j)
+      for (Index j=0; j<outerSize(); ++j)
         m_data[j].clear();
     }
 
     /** \returns the number of non zero coefficients */
-    inline int nonZeros() const
+    Index nonZeros() const
     {
-      int res = 0;
-      for (int j=0; j<outerSize(); ++j)
-        res += m_data[j].size();
+      Index res = 0;
+      for (Index j=0; j<outerSize(); ++j)
+        res += static_cast<Index>(m_data[j].size());
       return res;
     }
 
-    /** Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
-    inline void startFill(int reserveSize = 1000)
+
+
+    void reserve(Index reserveSize = 1000)
     {
       if (outerSize()>0)
       {
-        int reserveSizePerVector = std::max(reserveSize/outerSize(),4);
-        for (int j=0; j<outerSize(); ++j)
+        Index reserveSizePerVector = (std::max)(reserveSize/outerSize(),Index(4));
+        for (Index j=0; j<outerSize(); ++j)
         {
-          m_data[j].clear();
           m_data[j].reserve(reserveSizePerVector);
         }
       }
     }
 
-    /** inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
-      *  1 - the coefficient does not exist yet
-      *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
-      * In other words, assuming \c *this is column-major, then there must not exists any nonzero coefficient of coordinates
-      * \c i \c x \a col such that \c i >= \a row. Otherwise the matrix is invalid.
-      * 
-      * \see fillrand(), coeffRef()
-      */
-    inline Scalar& fill(int row, int col)
+    /** Does nothing: provided for compatibility with SparseMatrix */
+    inline void startVec(Index /*outer*/) {}
+
+    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
+      * - the nonzero does not already exist
+      * - the new coefficient is the last one of the given inner vector.
+      *
+      * \sa insert, insertBackByOuterInner */
+    inline Scalar& insertBack(Index row, Index col)
     {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-      ei_assert(outer<int(m_data.size()) && inner<m_innerSize);
-      ei_assert((m_data[outer].size()==0) || (m_data[outer].index(m_data[outer].size()-1)<inner));
+      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
+    }
+
+    /** \sa insertBack */
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
+    {
+      eigen_assert(outer<Index(m_data.size()) && inner<m_innerSize && "out of range");
+      eigen_assert(((m_data[outer].size()==0) || (m_data[outer].index(m_data[outer].size()-1)<inner))
+                && "wrong sorted insertion");
       m_data[outer].append(0, inner);
       return m_data[outer].value(m_data[outer].size()-1);
     }
 
-    /** Like fill() but with random inner coordinates.
-      * Compared to the generic coeffRef(), the unique limitation is that we assume
-      * the coefficient does not exist yet.
-      */
-    inline Scalar& fillrand(int row, int col)
+    inline Scalar& insert(Index row, Index col)
     {
-      const int outer = IsRowMajor ? row : col;
-      const int inner = IsRowMajor ? col : row;
-      
-      int startId = 0;
-      int id = m_data[outer].size() - 1;
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index startId = 0;
+      Index id = static_cast<Index>(m_data[outer].size()) - 1;
       m_data[outer].resize(id+2,1);
 
       while ( (id >= startId) && (m_data[outer].index(id) > inner) )
@@ -181,37 +192,38 @@ class DynamicSparseMatrix
       return m_data[outer].value(id+1);
     }
 
-    /** Does nothing. Provided for compatibility with SparseMatrix. */
-    inline void endFill() {}
-    
-    void prune(Scalar reference, RealScalar epsilon = precision<RealScalar>())
+    /** Does nothing: provided for compatibility with SparseMatrix */
+    inline void finalize() {}
+
+    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
     {
-      for (int j=0; j<outerSize(); ++j)
+      for (Index j=0; j<outerSize(); ++j)
         m_data[j].prune(reference,epsilon);
     }
 
     /** Resize the matrix without preserving the data (the matrix is set to zero)
       */
-    void resize(int rows, int cols)
+    void resize(Index rows, Index cols)
     {
-      const int outerSize = IsRowMajor ? rows : cols;
+      const Index outerSize = IsRowMajor ? rows : cols;
       m_innerSize = IsRowMajor ? cols : rows;
       setZero();
-      if (int(m_data.size()) != outerSize)
+      if (Index(m_data.size()) != outerSize)
       {
         m_data.resize(outerSize);
       }
     }
-    
-    void resizeAndKeepData(int rows, int cols)
+
+    void resizeAndKeepData(Index rows, Index cols)
     {
-      const int outerSize = IsRowMajor ? rows : cols;
-      const int innerSize = IsRowMajor ? cols : rows;
+      const Index outerSize = IsRowMajor ? rows : cols;
+      const Index innerSize = IsRowMajor ? cols : rows;
       if (m_innerSize>innerSize)
       {
         // remove all coefficients with innerCoord>=innerSize
         // TODO
-        std::cerr << "not implemented yet\n";
+        //std::cerr << "not implemented yet\n";
         exit(2);
       }
       if (m_data.size() != outerSize)
@@ -223,20 +235,20 @@ class DynamicSparseMatrix
     inline DynamicSparseMatrix()
       : m_innerSize(0), m_data(0)
     {
-      ei_assert(innerSize()==0 && outerSize()==0);
+      eigen_assert(innerSize()==0 && outerSize()==0);
     }
 
-    inline DynamicSparseMatrix(int rows, int cols)
+    inline DynamicSparseMatrix(Index rows, Index cols)
       : m_innerSize(0)
     {
       resize(rows, cols);
     }
 
     template<typename OtherDerived>
-    inline DynamicSparseMatrix(const SparseMatrixBase<OtherDerived>& other)
+    explicit inline DynamicSparseMatrix(const SparseMatrixBase<OtherDerived>& other)
       : m_innerSize(0)
     {
-      *this = other.derived();
+    Base::operator=(other.derived());
     }
 
     inline DynamicSparseMatrix(const DynamicSparseMatrix& other)
@@ -267,33 +279,68 @@ class DynamicSparseMatrix
       return *this;
     }
 
-    template<typename OtherDerived>
-    inline DynamicSparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other)
+    /** Destructor */
+    inline ~DynamicSparseMatrix() {}
+
+  public:
+
+    /** \deprecated
+      * Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
+    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
     {
-      return SparseMatrixBase<DynamicSparseMatrix>::operator=(other.derived());
+      setZero();
+      reserve(reserveSize);
     }
 
-    /** Destructor */
-    inline ~DynamicSparseMatrix() {}
+    /** \deprecated use insert()
+      * inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
+      *  1 - the coefficient does not exist yet
+      *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
+      * In other words, assuming \c *this is column-major, then there must not exists any nonzero coefficient of coordinates
+      * \c i \c x \a col such that \c i >= \a row. Otherwise the matrix is invalid.
+      *
+      * \see fillrand(), coeffRef()
+      */
+    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return insertBack(outer,inner);
+    }
+
+    /** \deprecated use insert()
+      * Like fill() but with random inner coordinates.
+      * Compared to the generic coeffRef(), the unique limitation is that we assume
+      * the coefficient does not exist yet.
+      */
+    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
+    {
+      return insert(row,col);
+    }
+
+    /** \deprecated use finalize()
+      * Does nothing. Provided for compatibility with SparseMatrix. */
+    EIGEN_DEPRECATED void endFill() {}
+    
+#   ifdef EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
+#     include EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
+#   endif
 };
 
-template<typename Scalar, int _Flags>
-class DynamicSparseMatrix<Scalar,_Flags>::InnerIterator : public SparseVector<Scalar,_Flags>::InnerIterator
+template<typename Scalar, int _Options, typename _Index>
+class DynamicSparseMatrix<Scalar,_Options,_Index>::InnerIterator : public SparseVector<Scalar,_Options>::InnerIterator
 {
-    typedef typename SparseVector<Scalar,_Flags>::InnerIterator Base;
+    typedef typename SparseVector<Scalar,_Options>::InnerIterator Base;
   public:
-    InnerIterator(const DynamicSparseMatrix& mat, int outer)
+    InnerIterator(const DynamicSparseMatrix& mat, Index outer)
       : Base(mat.m_data[outer]), m_outer(outer)
     {}
-    
-    inline int row() const { return IsRowMajor ? m_outer : Base::index(); }
-    inline int col() const { return IsRowMajor ? Base::index() : m_outer; }
 
-  protected:
-    const int m_outer;
+    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
+    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
 
-  private:
-    InnerIterator& operator=(const InnerIterator&);
+  protected:
+    const Index m_outer;
 };
 
 #endif // EIGEN_DYNAMIC_SPARSEMATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/MappedSparseMatrix.h b/extern/Eigen3/Eigen/src/Sparse/MappedSparseMatrix.h
index f4935d8344e..31a431fb224 100644
--- a/extern/Eigen2/Eigen/src/Sparse/MappedSparseMatrix.h
+++ b/extern/Eigen3/Eigen/src/Sparse/MappedSparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -34,54 +34,56 @@
   * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
   *
   */
-template<typename _Scalar, int _Flags>
-struct ei_traits<MappedSparseMatrix<_Scalar, _Flags> > : ei_traits<SparseMatrix<_Scalar, _Flags> >
+namespace internal {
+template<typename _Scalar, int _Flags, typename _Index>
+struct traits<MappedSparseMatrix<_Scalar, _Flags, _Index> > : traits<SparseMatrix<_Scalar, _Flags, _Index> >
 {};
+}
 
-template<typename _Scalar, int _Flags>
+template<typename _Scalar, int _Flags, typename _Index>
 class MappedSparseMatrix
-  : public SparseMatrixBase<MappedSparseMatrix<_Scalar, _Flags> >
+  : public SparseMatrixBase<MappedSparseMatrix<_Scalar, _Flags, _Index> >
 {
   public:
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(MappedSparseMatrix)
+    EIGEN_SPARSE_PUBLIC_INTERFACE(MappedSparseMatrix)
 
   protected:
     enum { IsRowMajor = Base::IsRowMajor };
 
-    int m_outerSize;
-    int m_innerSize;
-    int m_nnz;
-    int* m_outerIndex;
-    int* m_innerIndices;
+    Index   m_outerSize;
+    Index   m_innerSize;
+    Index   m_nnz;
+    Index*  m_outerIndex;
+    Index*  m_innerIndices;
     Scalar* m_values;
 
   public:
 
-    inline int rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    inline int cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-    inline int innerSize() const { return m_innerSize; }
-    inline int outerSize() const { return m_outerSize; }
-    inline int innerNonZeros(int j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return m_outerSize; }
+    inline Index innerNonZeros(Index j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
 
     //----------------------------------------
     // direct access interface
     inline const Scalar* _valuePtr() const { return m_values; }
     inline Scalar* _valuePtr() { return m_values; }
 
-    inline const int* _innerIndexPtr() const { return m_innerIndices; }
-    inline int* _innerIndexPtr() { return m_innerIndices; }
+    inline const Index* _innerIndexPtr() const { return m_innerIndices; }
+    inline Index* _innerIndexPtr() { return m_innerIndices; }
 
-    inline const int* _outerIndexPtr() const { return m_outerIndex; }
-    inline int* _outerIndexPtr() { return m_outerIndex; }
+    inline const Index* _outerIndexPtr() const { return m_outerIndex; }
+    inline Index* _outerIndexPtr() { return m_outerIndex; }
     //----------------------------------------
 
-    inline Scalar coeff(int row, int col) const
+    inline Scalar coeff(Index row, Index col) const
     {
-      const int outer = RowMajor ? row : col;
-      const int inner = RowMajor ? col : row;
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
 
-      int start = m_outerIndex[outer];
-      int end = m_outerIndex[outer+1];
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
       if (start==end)
         return Scalar(0);
       else if (end>0 && inner==m_innerIndices[end-1])
@@ -89,57 +91,45 @@ class MappedSparseMatrix
       // ^^  optimization: let's first check if it is the last coefficient
       // (very common in high level algorithms)
 
-      const int* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
-      const int id = r-&m_innerIndices[0];
+      const Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
+      const Index id = r-&m_innerIndices[0];
       return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
     }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      const int outer = RowMajor ? row : col;
-      const int inner = RowMajor ? col : row;
-
-      int start = m_outerIndex[outer];
-      int end = m_outerIndex[outer+1];
-      ei_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      ei_assert(end>start && "coeffRef cannot be called on a zero coefficient");
-      int* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end],inner);
-      const int id = r-&m_innerIndices[0];
-      ei_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end],inner);
+      const Index id = r-&m_innerIndices[0];
+      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
       return m_values[id];
     }
 
     class InnerIterator;
 
     /** \returns the number of non zero coefficients */
-    inline int nonZeros() const  { return m_nnz; }
+    inline Index nonZeros() const  { return m_nnz; }
 
-    inline MappedSparseMatrix(int rows, int cols, int nnz, int* outerIndexPtr, int* innerIndexPtr, Scalar* valuePtr)
+    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr)
       : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_nnz(nnz), m_outerIndex(outerIndexPtr),
         m_innerIndices(innerIndexPtr), m_values(valuePtr)
     {}
 
-    #ifdef EIGEN_TAUCS_SUPPORT
-    explicit MappedSparseMatrix(taucs_ccs_matrix& taucsMatrix);
-    #endif
-
-    #ifdef EIGEN_CHOLMOD_SUPPORT
-    explicit MappedSparseMatrix(cholmod_sparse& cholmodMatrix);
-    #endif
-
-    #ifdef EIGEN_SUPERLU_SUPPORT
-    explicit MappedSparseMatrix(SluMatrix& sluMatrix);
-    #endif
-
     /** Empty destructor */
     inline ~MappedSparseMatrix() {}
 };
 
-template<typename Scalar, int _Flags>
-class MappedSparseMatrix<Scalar,_Flags>::InnerIterator
+template<typename Scalar, int _Flags, typename _Index>
+class MappedSparseMatrix<Scalar,_Flags,_Index>::InnerIterator
 {
   public:
-    InnerIterator(const MappedSparseMatrix& mat, int outer)
+    InnerIterator(const MappedSparseMatrix& mat, Index outer)
       : m_matrix(mat),
         m_outer(outer),
         m_id(mat._outerIndexPtr()[outer]),
@@ -148,7 +138,7 @@ class MappedSparseMatrix<Scalar,_Flags>::InnerIterator
     {}
 
     template<unsigned int Added, unsigned int Removed>
-    InnerIterator(const Flagged<MappedSparseMatrix,Added,Removed>& mat, int outer)
+    InnerIterator(const Flagged<MappedSparseMatrix,Added,Removed>& mat, Index outer)
       : m_matrix(mat._expression()), m_id(m_matrix._outerIndexPtr()[outer]),
         m_start(m_id), m_end(m_matrix._outerIndexPtr()[outer+1])
     {}
@@ -158,18 +148,18 @@ class MappedSparseMatrix<Scalar,_Flags>::InnerIterator
     inline Scalar value() const { return m_matrix._valuePtr()[m_id]; }
     inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix._valuePtr()[m_id]); }
 
-    inline int index() const { return m_matrix._innerIndexPtr()[m_id]; }
-    inline int row() const { return IsRowMajor ? m_outer : index(); }
-    inline int col() const { return IsRowMajor ? index() : m_outer; }
+    inline Index index() const { return m_matrix._innerIndexPtr()[m_id]; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
 
     inline operator bool() const { return (m_id < m_end) && (m_id>=m_start); }
 
   protected:
     const MappedSparseMatrix& m_matrix;
-    const int m_outer;
-    int m_id;
-    const int m_start;
-    const int m_end;
+    const Index m_outer;
+    Index m_id;
+    const Index m_start;
+    const Index m_end;
 };
 
 #endif // EIGEN_MAPPED_SPARSEMATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseAssign.h b/extern/Eigen3/Eigen/src/Sparse/SparseAssign.h
index e69de29bb2d..e69de29bb2d 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseAssign.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseAssign.h
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseBlock.h b/extern/Eigen3/Eigen/src/Sparse/SparseBlock.h
index ae77a77879b..8079c999994 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseBlock.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseBlock.h
@@ -1,8 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -26,49 +25,58 @@
 #ifndef EIGEN_SPARSE_BLOCK_H
 #define EIGEN_SPARSE_BLOCK_H
 
+namespace internal {
 template<typename MatrixType, int Size>
-struct ei_traits<SparseInnerVectorSet<MatrixType, Size> >
+struct traits<SparseInnerVectorSet<MatrixType, Size> >
 {
-  typedef typename ei_traits<MatrixType>::Scalar Scalar;
+  typedef typename traits<MatrixType>::Scalar Scalar;
+  typedef typename traits<MatrixType>::Index Index;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef MatrixXpr XprKind;
   enum {
     IsRowMajor = (int(MatrixType::Flags)&RowMajorBit)==RowMajorBit,
     Flags = MatrixType::Flags,
     RowsAtCompileTime = IsRowMajor ? Size : MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = IsRowMajor ? MatrixType::ColsAtCompileTime : Size,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
     CoeffReadCost = MatrixType::CoeffReadCost
   };
 };
+} // end namespace internal
 
 template<typename MatrixType, int Size>
-class SparseInnerVectorSet : ei_no_assignment_operator,
+class SparseInnerVectorSet : internal::no_assignment_operator,
   public SparseMatrixBase<SparseInnerVectorSet<MatrixType, Size> >
 {
-    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
   public:
 
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
     class InnerIterator: public MatrixType::InnerIterator
     {
       public:
-        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
-          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
         {}
-
-      private:
-        InnerIterator& operator=(const InnerIterator&);
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
     };
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
       : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
     {
-      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
     }
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
       : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
     {
-      ei_assert(Size!=Dynamic);
-      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+      eigen_assert(Size!=Dynamic);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
     }
 
 //     template<typename OtherDerived>
@@ -83,15 +91,14 @@ class SparseInnerVectorSet : ei_no_assignment_operator,
 //       return *this;
 //     }
 
-    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
   protected:
 
     const typename MatrixType::Nested m_matrix;
-    int m_outerStart;
-    const ei_int_if_dynamic<Size> m_outerSize;
-
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
 };
 
 /***************************************************************************
@@ -103,31 +110,34 @@ class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
   : public SparseMatrixBase<SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size> >
 {
     typedef DynamicSparseMatrix<_Scalar, _Options> MatrixType;
-    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
   public:
 
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
     class InnerIterator: public MatrixType::InnerIterator
     {
       public:
-        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
-          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
         {}
-      private:
-        InnerIterator& operator=(const InnerIterator&);
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
     };
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
       : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
     {
-      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
     }
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
       : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
     {
-      ei_assert(Size!=Dynamic);
-      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+      eigen_assert(Size!=Dynamic);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
     }
 
     template<typename OtherDerived>
@@ -142,7 +152,7 @@ class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
       else
       {
         // evaluate/copy vector per vector
-        for (int j=0; j<m_outerSize.value(); ++j)
+        for (Index j=0; j<m_outerSize.value(); ++j)
         {
           SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
           m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
@@ -156,20 +166,35 @@ class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
       return operator=<SparseInnerVectorSet>(other);
     }
 
+    Index nonZeros() const
+    {
+      Index count = 0;
+      for (Index j=0; j<m_outerSize.value(); ++j)
+        count += m_matrix._data()[m_outerStart+j].size();
+      return count;
+    }
+
+    const Scalar& lastCoeff() const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
+      eigen_assert(m_matrix.data()[m_outerStart].size()>0);
+      return m_matrix.data()[m_outerStart].vale(m_matrix.data()[m_outerStart].size()-1);
+    }
+
 //     template<typename Sparse>
 //     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
 //     {
 //       return *this;
 //     }
 
-    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
   protected:
 
     const typename MatrixType::Nested m_matrix;
-    int m_outerStart;
-    const ei_int_if_dynamic<Size> m_outerSize;
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
 
 };
 
@@ -177,55 +202,113 @@ class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
 /***************************************************************************
 * specialisation for SparseMatrix
 ***************************************************************************/
-/*
-template<typename _Scalar, int _Options, int Size>
-class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size>
+
+template<typename _Scalar, int _Options, typename _Index, int Size>
+class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options, _Index>, Size>
   : public SparseMatrixBase<SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size> >
 {
-    typedef DynamicSparseMatrix<_Scalar, _Options> MatrixType;
-    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
+    typedef SparseMatrix<_Scalar, _Options> MatrixType;
   public:
 
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
     class InnerIterator: public MatrixType::InnerIterator
     {
       public:
-        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
-          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
         {}
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
     };
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
       : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
     {
-      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
     }
 
-    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
-      : m_matrix(matrix), m_outerStart(outer)
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
     {
-      ei_assert(Size==1);
-      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+      eigen_assert(Size==1);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
     }
 
     template<typename OtherDerived>
     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
     {
-      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
+      typedef typename internal::remove_all<typename MatrixType::Nested>::type _NestedMatrixType;
+      _NestedMatrixType& matrix = const_cast<_NestedMatrixType&>(m_matrix);;
+      // This assignement is slow if this vector set not empty
+      // and/or it is not at the end of the nonzeros of the underlying matrix.
+
+      // 1 - eval to a temporary to avoid transposition and/or aliasing issues
+      SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, Index> tmp(other);
+
+      // 2 - let's check whether there is enough allocated memory
+      Index nnz = tmp.nonZeros();
+      Index nnz_previous = nonZeros();
+      Index free_size = matrix.data().allocatedSize() - nnz_previous;
+      std::size_t nnz_head = m_outerStart==0 ? 0 : matrix._outerIndexPtr()[m_outerStart];
+      std::size_t tail = m_matrix._outerIndexPtr()[m_outerStart+m_outerSize.value()];
+      std::size_t nnz_tail = matrix.nonZeros() - tail;
+
+      if(nnz>free_size)
       {
-        // need to transpose => perform a block evaluation followed by a big swap
-        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
-        *this = aux.markAsRValue();
+        // realloc manually to reduce copies
+        typename MatrixType::Storage newdata(m_matrix.nonZeros() - nnz_previous + nnz);
+
+        std::memcpy(&newdata.value(0), &m_matrix.data().value(0), nnz_head*sizeof(Scalar));
+        std::memcpy(&newdata.index(0), &m_matrix.data().index(0), nnz_head*sizeof(Index));
+
+        std::memcpy(&newdata.value(nnz_head), &tmp.data().value(0), nnz*sizeof(Scalar));
+        std::memcpy(&newdata.index(nnz_head), &tmp.data().index(0), nnz*sizeof(Index));
+
+        std::memcpy(&newdata.value(nnz_head+nnz), &matrix.data().value(tail), nnz_tail*sizeof(Scalar));
+        std::memcpy(&newdata.index(nnz_head+nnz), &matrix.data().index(tail), nnz_tail*sizeof(Index));
+
+        matrix.data().swap(newdata);
       }
       else
       {
-        // evaluate/copy vector per vector
-        for (int j=0; j<m_outerSize.value(); ++j)
+        // no need to realloc, simply copy the tail at its respective position and insert tmp
+        matrix.data().resize(nnz_head + nnz + nnz_tail);
+
+        if(nnz<nnz_previous)
         {
-          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
-          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
+          std::memcpy(&matrix.data().value(nnz_head+nnz), &matrix.data().value(tail), nnz_tail*sizeof(Scalar));
+          std::memcpy(&matrix.data().index(nnz_head+nnz), &matrix.data().index(tail), nnz_tail*sizeof(Index));
+        }
+        else
+        {
+          for(Index i=nnz_tail-1; i>=0; --i)
+          {
+            matrix.data().value(nnz_head+nnz+i) = matrix.data().value(tail+i);
+            matrix.data().index(nnz_head+nnz+i) = matrix.data().index(tail+i);
+          }
         }
+
+        std::memcpy(&matrix.data().value(nnz_head), &tmp.data().value(0), nnz*sizeof(Scalar));
+        std::memcpy(&matrix.data().index(nnz_head), &tmp.data().index(0), nnz*sizeof(Index));
       }
+
+      // update outer index pointers
+      Index p = nnz_head;
+      for(Index k=1; k<m_outerSize.value(); ++k)
+      {
+        matrix._outerIndexPtr()[m_outerStart+k] = p;
+        p += tmp.innerVector(k).nonZeros();
+      }
+      std::ptrdiff_t offset = nnz - nnz_previous;
+      for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+      {
+        matrix._outerIndexPtr()[k] += offset;
+      }
+
       return *this;
     }
 
@@ -236,9 +319,31 @@ class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size>
 
     inline const Scalar* _valuePtr() const
     { return m_matrix._valuePtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
-    inline const int* _innerIndexPtr() const
+    inline Scalar* _valuePtr()
+    { return m_matrix.const_cast_derived()._valuePtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+
+    inline const Index* _innerIndexPtr() const
     { return m_matrix._innerIndexPtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
-    inline const int* _outerIndexPtr() const { return m_matrix._outerIndexPtr() + m_outerStart; }
+    inline Index* _innerIndexPtr()
+    { return m_matrix.const_cast_derived()._innerIndexPtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+
+    inline const Index* _outerIndexPtr() const
+    { return m_matrix._outerIndexPtr() + m_outerStart; }
+    inline Index* _outerIndexPtr()
+    { return m_matrix.const_cast_derived()._outerIndexPtr() + m_outerStart; }
+
+    Index nonZeros() const
+    {
+      return  std::size_t(m_matrix._outerIndexPtr()[m_outerStart+m_outerSize.value()])
+            - std::size_t(m_matrix._outerIndexPtr()[m_outerStart]);
+    }
+
+    const Scalar& lastCoeff() const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
+      eigen_assert(nonZeros()>0);
+      return m_matrix._valuePtr()[m_matrix._outerIndexPtr()[m_outerStart+1]-1];
+    }
 
 //     template<typename Sparse>
 //     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
@@ -246,22 +351,22 @@ class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size>
 //       return *this;
 //     }
 
-    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
   protected:
 
     const typename MatrixType::Nested m_matrix;
-    int m_outerStart;
-    const ei_int_if_dynamic<Size> m_outerSize;
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
 
 };
-*/
+
 //----------
 
 /** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
 template<typename Derived>
-SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i)
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(Index i)
 {
   EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
   return innerVector(i);
@@ -270,7 +375,7 @@ SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i)
 /** \returns the i-th row of the matrix \c *this. For row-major matrix only.
   * (read-only version) */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i) const
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(Index i) const
 {
   EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
   return innerVector(i);
@@ -278,7 +383,7 @@ const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i) cons
 
 /** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
 template<typename Derived>
-SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i)
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(Index i)
 {
   EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
   return innerVector(i);
@@ -287,7 +392,7 @@ SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i)
 /** \returns the i-th column of the matrix \c *this. For column-major matrix only.
   * (read-only version) */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i) const
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(Index i) const
 {
   EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
   return innerVector(i);
@@ -297,21 +402,21 @@ const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i) cons
   * is col-major (resp. row-major).
   */
 template<typename Derived>
-SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(int outer)
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(Index outer)
 { return SparseInnerVectorSet<Derived,1>(derived(), outer); }
 
 /** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
   * is col-major (resp. row-major). Read-only.
   */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(int outer) const
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(Index outer) const
 { return SparseInnerVectorSet<Derived,1>(derived(), outer); }
 
 //----------
 
 /** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
 template<typename Derived>
-SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(int start, int size)
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(Index start, Index size)
 {
   EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
   return innerVectors(start, size);
@@ -320,7 +425,7 @@ SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(int sta
 /** \returns the i-th row of the matrix \c *this. For row-major matrix only.
   * (read-only version) */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(int start, int size) const
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(Index start, Index size) const
 {
   EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
   return innerVectors(start, size);
@@ -328,7 +433,7 @@ const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(i
 
 /** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
 template<typename Derived>
-SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(int start, int size)
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(Index start, Index size)
 {
   EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
   return innerVectors(start, size);
@@ -337,7 +442,7 @@ SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(int sta
 /** \returns the i-th column of the matrix \c *this. For column-major matrix only.
   * (read-only version) */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(int start, int size) const
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(Index start, Index size) const
 {
   EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
   return innerVectors(start, size);
@@ -347,108 +452,14 @@ const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(i
   * is col-major (resp. row-major).
   */
 template<typename Derived>
-SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(int outerStart, int outerSize)
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
 { return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
 
 /** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
   * is col-major (resp. row-major). Read-only.
   */
 template<typename Derived>
-const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(int outerStart, int outerSize) const
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
 { return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
 
-# if 0
-template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess>
-class Block<MatrixType,BlockRows,BlockCols,PacketAccess,IsSparse>
-  : public SparseMatrixBase<Block<MatrixType,BlockRows,BlockCols,PacketAccess,IsSparse> >
-{
-public:
-
-    _EIGEN_GENERIC_PUBLIC_INTERFACE(Block, SparseMatrixBase<Block>)
-    class InnerIterator;
-
-    /** Column or Row constructor
-      */
-    inline Block(const MatrixType& matrix, int i)
-      : m_matrix(matrix),
-        // It is a row if and only if BlockRows==1 and BlockCols==MatrixType::ColsAtCompileTime,
-        // and it is a column if and only if BlockRows==MatrixType::RowsAtCompileTime and BlockCols==1,
-        // all other cases are invalid.
-        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
-        m_startRow( (BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
-        m_blockRows(matrix.rows()), // if it is a row, then m_blockRows has a fixed-size of 1, so no pb to try to overwrite it
-        m_blockCols(matrix.cols())  // same for m_blockCols
-    {
-      ei_assert( (i>=0) && (
-          ((BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) && i<matrix.rows())
-        ||((BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) && i<matrix.cols())));
-    }
-
-    /** Fixed-size constructor
-      */
-    inline Block(const MatrixType& matrix, int startRow, int startCol)
-      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
-        m_blockRows(matrix.rows()), m_blockCols(matrix.cols())
-    {
-      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && RowsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
-      ei_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= matrix.rows()
-          && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= matrix.cols());
-    }
-
-    /** Dynamic-size constructor
-      */
-    inline Block(const MatrixType& matrix,
-          int startRow, int startCol,
-          int blockRows, int blockCols)
-      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
-                          m_blockRows(blockRows), m_blockCols(blockCols)
-    {
-      ei_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
-          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      ei_assert(startRow >= 0 && blockRows >= 1 && startRow + blockRows <= matrix.rows()
-          && startCol >= 0 && blockCols >= 1 && startCol + blockCols <= matrix.cols());
-    }
-
-    inline int rows() const { return m_blockRows.value(); }
-    inline int cols() const { return m_blockCols.value(); }
-
-    inline int stride(void) const { return m_matrix.stride(); }
-
-    inline Scalar& coeffRef(int row, int col)
-    {
-      return m_matrix.const_cast_derived()
-               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline Scalar& coeffRef(int index)
-    {
-      return m_matrix.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-  protected:
-
-    const typename MatrixType::Nested m_matrix;
-    const ei_int_if_dynamic<MatrixType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
-    const ei_int_if_dynamic<MatrixType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
-    const ei_int_if_dynamic<RowsAtCompileTime> m_blockRows;
-    const ei_int_if_dynamic<ColsAtCompileTime> m_blockCols;
-
-};
-#endif
-
 #endif // EIGEN_SPARSE_BLOCK_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseCwiseBinaryOp.h b/extern/Eigen3/Eigen/src/Sparse/SparseCwiseBinaryOp.h
new file mode 100644
index 00000000000..cde5bbc0300
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseCwiseBinaryOp.h
@@ -0,0 +1,375 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_CWISE_BINARY_OP_H
+#define EIGEN_SPARSE_CWISE_BINARY_OP_H
+
+// Here we have to handle 3 cases:
+//  1 - sparse op dense
+//  2 - dense op sparse
+//  3 - sparse op sparse
+// We also need to implement a 4th iterator for:
+//  4 - dense op dense
+// Finally, we also need to distinguish between the product and other operations :
+//                configuration      returned mode
+//  1 - sparse op dense    product      sparse
+//                         generic      dense
+//  2 - dense op sparse    product      sparse
+//                         generic      dense
+//  3 - sparse op sparse   product      sparse
+//                         generic      sparse
+//  4 - dense op dense     product      dense
+//                         generic      dense
+
+namespace internal {
+
+template<> struct promote_storage_type<Dense,Sparse>
+{ typedef Sparse ret; };
+
+template<> struct promote_storage_type<Sparse,Dense>
+{ typedef Sparse ret; };
+
+template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived,
+  typename _LhsStorageMode = typename traits<Lhs>::StorageKind,
+  typename _RhsStorageMode = typename traits<Rhs>::StorageKind>
+class sparse_cwise_binary_op_inner_iterator_selector;
+
+} // end namespace internal
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Sparse>
+  : public SparseMatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  public:
+    class InnerIterator;
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator
+  : public internal::sparse_cwise_binary_op_inner_iterator_selector<BinaryOp,Lhs,Rhs,typename CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator>
+{
+  public:
+    typedef typename Lhs::Index Index;
+    typedef internal::sparse_cwise_binary_op_inner_iterator_selector<
+      BinaryOp,Lhs,Rhs, InnerIterator> Base;
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseBinaryOpImpl& binOp, Index outer)
+      : Base(binOp.derived(),outer)
+    {}
+};
+
+/***************************************************************************
+* Implementation of inner-iterators
+***************************************************************************/
+
+// template<typename T> struct internal::func_is_conjunction { enum { ret = false }; };
+// template<typename T> struct internal::func_is_conjunction<internal::scalar_product_op<T> > { enum { ret = true }; };
+
+// TODO generalize the internal::scalar_product_op specialization to all conjunctions if any !
+
+namespace internal {
+
+// sparse - sparse  (generic)
+template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived, Sparse, Sparse>
+{
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename traits<CwiseBinaryXpr>::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
+      {
+        m_id = m_lhsIter.index();
+        m_value = m_functor(m_lhsIter.value(), m_rhsIter.value());
+        ++m_lhsIter;
+        ++m_rhsIter;
+      }
+      else if (m_lhsIter && (!m_rhsIter || (m_lhsIter.index() < m_rhsIter.index())))
+      {
+        m_id = m_lhsIter.index();
+        m_value = m_functor(m_lhsIter.value(), Scalar(0));
+        ++m_lhsIter;
+      }
+      else if (m_rhsIter && (!m_lhsIter || (m_lhsIter.index() > m_rhsIter.index())))
+      {
+        m_id = m_rhsIter.index();
+        m_value = m_functor(Scalar(0), m_rhsIter.value());
+        ++m_rhsIter;
+      }
+      else
+      {
+        m_value = 0; // this is to avoid a compilation warning
+        m_id = -1;
+      }
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index row() const { return Lhs::IsRowMajor ? m_lhsIter.row() : index(); }
+    EIGEN_STRONG_INLINE Index col() const { return Lhs::IsRowMajor ? index() : m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id>=0; }
+
+  protected:
+    LhsIterator m_lhsIter;
+    RhsIterator m_rhsIter;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    Index m_id;
+};
+
+// sparse - sparse  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Sparse>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    {
+      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
+      {
+        if (m_lhsIter.index() < m_rhsIter.index())
+          ++m_lhsIter;
+        else
+          ++m_rhsIter;
+      }
+    }
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_lhsIter;
+      ++m_rhsIter;
+      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
+      {
+        if (m_lhsIter.index() < m_rhsIter.index())
+          ++m_lhsIter;
+        else
+          ++m_rhsIter;
+      }
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return (m_lhsIter && m_rhsIter); }
+
+  protected:
+    LhsIterator m_lhsIter;
+    RhsIterator m_rhsIter;
+    const BinaryFunc& m_functor;
+};
+
+// sparse - dense  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Dense>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename traits<CwiseBinaryXpr>::RhsNested RhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename Lhs::Index Index;
+    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_rhs(xpr.rhs()), m_lhsIter(xpr.lhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+    {}
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_lhsIter;
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    { return m_functor(m_lhsIter.value(),
+                       m_rhs.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
+
+  protected:
+    const RhsNested m_rhs;
+    LhsIterator m_lhsIter;
+    const BinaryFunc m_functor;
+    const Index m_outer;
+};
+
+// sparse - dense  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Dense, Sparse>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+
+    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_xpr(xpr), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+    {}
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_rhsIter;
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    { return m_functor(m_xpr.lhs().coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_rhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
+
+  protected:
+    const CwiseBinaryXpr& m_xpr;
+    RhsIterator m_rhsIter;
+    const BinaryFunc& m_functor;
+    const Index m_outer;
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of SparseMatrixBase and SparseCwise functions/operators
+***************************************************************************/
+
+// template<typename Derived>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename internal::traits<Derived>::Scalar>,
+//                                  Derived, OtherDerived>
+// SparseMatrixBase<Derived>::operator-(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+//                        Derived, OtherDerived>(derived(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+SparseMatrixBase<Derived>::operator-=(const SparseMatrixBase<OtherDerived> &other)
+{
+  return *this = derived() - other.derived();
+}
+
+// template<typename Derived>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+// SparseMatrixBase<Derived>::operator+(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return CwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived>(derived(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& other)
+{
+  return *this = derived() + other.derived();
+}
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+// SparseCwise<ExpressionType>::operator*(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(_expression(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+SparseMatrixBase<Derived>::cwiseProduct(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(derived(), other.derived());
+}
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+// SparseCwise<ExpressionType>::operator/(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+// }
+//
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+// SparseCwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+// }
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// inline ExpressionType& SparseCwise<ExpressionType>::operator*=(const SparseMatrixBase<OtherDerived> &other)
+// {
+//   return m_matrix.const_cast_derived() = _expression() * other.derived();
+// }
+
+
+#endif // EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseCwiseUnaryOp.h b/extern/Eigen3/Eigen/src/Sparse/SparseCwiseUnaryOp.h
new file mode 100644
index 00000000000..aa068835fbb
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseCwiseUnaryOp.h
@@ -0,0 +1,146 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_CWISE_UNARY_OP_H
+#define EIGEN_SPARSE_CWISE_UNARY_OP_H
+
+// template<typename UnaryOp, typename MatrixType>
+// struct internal::traits<SparseCwiseUnaryOp<UnaryOp, MatrixType> > : internal::traits<MatrixType>
+// {
+//   typedef typename internal::result_of<
+//                      UnaryOp(typename MatrixType::Scalar)
+//                    >::type Scalar;
+//   typedef typename MatrixType::Nested MatrixTypeNested;
+//   typedef typename internal::remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+//   enum {
+//     CoeffReadCost = _MatrixTypeNested::CoeffReadCost + internal::functor_traits<UnaryOp>::Cost
+//   };
+// };
+
+template<typename UnaryOp, typename MatrixType>
+class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>
+  : public SparseMatrixBase<CwiseUnaryOp<UnaryOp, MatrixType> >
+{
+  public:
+
+    class InnerIterator;
+//     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+
+    typedef CwiseUnaryOp<UnaryOp, MatrixType> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename UnaryOp, typename MatrixType>
+class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::InnerIterator
+{
+    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
+    typedef typename internal::traits<Derived>::_XprTypeNested _MatrixTypeNested;
+    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
+    typedef typename MatrixType::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryOpImpl& unaryOp, Index outer)
+      : m_iter(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    {}
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    { ++m_iter; return *this; }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_iter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
+
+  protected:
+    MatrixTypeIterator m_iter;
+    const UnaryOp m_functor;
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>
+  : public SparseMatrixBase<CwiseUnaryView<ViewOp, MatrixType> >
+{
+  public:
+
+    class InnerIterator;
+//     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+
+    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::InnerIterator
+{
+    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
+    typedef typename internal::traits<Derived>::_MatrixTypeNested _MatrixTypeNested;
+    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
+    typedef typename MatrixType::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryViewImpl& unaryView, Index outer)
+      : m_iter(unaryView.derived().nestedExpression(),outer), m_functor(unaryView.derived().functor())
+    {}
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    { ++m_iter; return *this; }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_iter.value()); }
+    EIGEN_STRONG_INLINE Scalar& valueRef() { return m_functor(m_iter.valueRef()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
+
+  protected:
+    MatrixTypeIterator m_iter;
+    const ViewOp m_functor;
+};
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+SparseMatrixBase<Derived>::operator*=(const Scalar& other)
+{
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+      i.valueRef() *= other;
+  return derived();
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+SparseMatrixBase<Derived>::operator/=(const Scalar& other)
+{
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+      i.valueRef() /= other;
+  return derived();
+}
+
+#endif // EIGEN_SPARSE_CWISE_UNARY_OP_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseDenseProduct.h b/extern/Eigen3/Eigen/src/Sparse/SparseDenseProduct.h
new file mode 100644
index 00000000000..0f77aa5be99
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseDenseProduct.h
@@ -0,0 +1,231 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEDENSEPRODUCT_H
+#define EIGEN_SPARSEDENSEPRODUCT_H
+
+template<typename Lhs, typename Rhs, int InnerSize> struct SparseDenseProductReturnType
+{
+  typedef SparseTimeDenseProduct<Lhs,Rhs> Type;
+};
+
+template<typename Lhs, typename Rhs> struct SparseDenseProductReturnType<Lhs,Rhs,1>
+{
+  typedef SparseDenseOuterProduct<Lhs,Rhs,false> Type;
+};
+
+template<typename Lhs, typename Rhs, int InnerSize> struct DenseSparseProductReturnType
+{
+  typedef DenseTimeSparseProduct<Lhs,Rhs> Type;
+};
+
+template<typename Lhs, typename Rhs> struct DenseSparseProductReturnType<Lhs,Rhs,1>
+{
+  typedef SparseDenseOuterProduct<Rhs,Lhs,true> Type;
+};
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, bool Tr>
+struct traits<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
+{
+  typedef Sparse StorageKind;
+  typedef typename scalar_product_traits<typename traits<Lhs>::Scalar,
+                                            typename traits<Rhs>::Scalar>::ReturnType Scalar;
+  typedef typename Lhs::Index Index;
+  typedef typename Lhs::Nested LhsNested;
+  typedef typename Rhs::Nested RhsNested;
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+
+  enum {
+    LhsCoeffReadCost = traits<_LhsNested>::CoeffReadCost,
+    RhsCoeffReadCost = traits<_RhsNested>::CoeffReadCost,
+
+    RowsAtCompileTime    = Tr ? int(traits<Rhs>::RowsAtCompileTime)     : int(traits<Lhs>::RowsAtCompileTime),
+    ColsAtCompileTime    = Tr ? int(traits<Lhs>::ColsAtCompileTime)     : int(traits<Rhs>::ColsAtCompileTime),
+    MaxRowsAtCompileTime = Tr ? int(traits<Rhs>::MaxRowsAtCompileTime)  : int(traits<Lhs>::MaxRowsAtCompileTime),
+    MaxColsAtCompileTime = Tr ? int(traits<Lhs>::MaxColsAtCompileTime)  : int(traits<Rhs>::MaxColsAtCompileTime),
+
+    Flags = Tr ? RowMajorBit : 0,
+
+    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + NumTraits<Scalar>::MulCost
+  };
+};
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs, bool Tr>
+class SparseDenseOuterProduct
+ : public SparseMatrixBase<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
+{
+  public:
+
+    typedef SparseMatrixBase<SparseDenseOuterProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SparseDenseOuterProduct)
+    typedef internal::traits<SparseDenseOuterProduct> Traits;
+
+  private:
+
+    typedef typename Traits::LhsNested LhsNested;
+    typedef typename Traits::RhsNested RhsNested;
+    typedef typename Traits::_LhsNested _LhsNested;
+    typedef typename Traits::_RhsNested _RhsNested;
+
+  public:
+
+    class InnerIterator;
+
+    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      EIGEN_STATIC_ASSERT(!Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
+    }
+
+    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Rhs& rhs, const Lhs& lhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      EIGEN_STATIC_ASSERT(Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return Tr ? m_rhs.rows() : m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return Tr ? m_lhs.cols() : m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+template<typename Lhs, typename Rhs, bool Transpose>
+class SparseDenseOuterProduct<Lhs,Rhs,Transpose>::InnerIterator : public _LhsNested::InnerIterator
+{
+    typedef typename _LhsNested::InnerIterator Base;
+  public:
+    EIGEN_STRONG_INLINE InnerIterator(const SparseDenseOuterProduct& prod, Index outer)
+      : Base(prod.lhs(), 0), m_outer(outer), m_factor(prod.rhs().coeff(outer))
+    {
+    }
+
+    inline Index outer() const { return m_outer; }
+    inline Index row() const { return Transpose ? Base::row() : m_outer; }
+    inline Index col() const { return Transpose ? m_outer : Base::row(); }
+
+    inline Scalar value() const { return Base::value() * m_factor; }
+
+  protected:
+    int m_outer;
+    Scalar m_factor;
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs>
+struct traits<SparseTimeDenseProduct<Lhs,Rhs> >
+ : traits<ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+  typedef MatrixXpr XprKind;
+};
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class SparseTimeDenseProduct
+  : public ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseTimeDenseProduct)
+
+    SparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      typedef typename internal::remove_all<Lhs>::type _Lhs;
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Lhs::InnerIterator LhsInnerIterator;
+      enum { LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit };
+      for(Index j=0; j<m_lhs.outerSize(); ++j)
+      {
+        typename Rhs::Scalar rhs_j = alpha * m_rhs.coeff(LhsIsRowMajor ? 0 : j,0);
+        typename Dest::RowXpr dest_j(dest.row(LhsIsRowMajor ? j : 0));
+        for(LhsInnerIterator it(m_lhs,j); it ;++it)
+        {
+          if(LhsIsRowMajor)                   dest_j += (alpha*it.value()) * m_rhs.row(it.index());
+          else if(Rhs::ColsAtCompileTime==1)  dest.coeffRef(it.index()) += it.value() * rhs_j;
+          else                                dest.row(it.index()) += (alpha*it.value()) * m_rhs.row(j);
+        }
+      }
+    }
+
+  private:
+    SparseTimeDenseProduct& operator=(const SparseTimeDenseProduct&);
+};
+
+
+// dense = dense * sparse
+namespace internal {
+template<typename Lhs, typename Rhs>
+struct traits<DenseTimeSparseProduct<Lhs,Rhs> >
+ : traits<ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+};
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class DenseTimeSparseProduct
+  : public ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseProduct)
+
+    DenseTimeSparseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Rhs::InnerIterator RhsInnerIterator;
+      enum { RhsIsRowMajor = (_Rhs::Flags&RowMajorBit)==RowMajorBit };
+      for(Index j=0; j<m_rhs.outerSize(); ++j)
+        for(RhsInnerIterator i(m_rhs,j); i; ++i)
+          dest.col(RhsIsRowMajor ? i.index() : j) += (alpha*i.value()) * m_lhs.col(RhsIsRowMajor ? j : i.index());
+    }
+
+  private:
+    DenseTimeSparseProduct& operator=(const DenseTimeSparseProduct&);
+};
+
+// sparse * dense
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
+SparseMatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  return typename SparseDenseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseDiagonalProduct.h b/extern/Eigen3/Eigen/src/Sparse/SparseDiagonalProduct.h
new file mode 100644
index 00000000000..fb9a29c051b
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseDiagonalProduct.h
@@ -0,0 +1,195 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_DIAGONAL_PRODUCT_H
+#define EIGEN_SPARSE_DIAGONAL_PRODUCT_H
+
+// The product of a diagonal matrix with a sparse matrix can be easily
+// implemented using expression template.
+// We have two consider very different cases:
+// 1 - diag * row-major sparse
+//     => each inner vector <=> scalar * sparse vector product
+//     => so we can reuse CwiseUnaryOp::InnerIterator
+// 2 - diag * col-major sparse
+//     => each inner vector <=> densevector * sparse vector cwise product
+//     => again, we can reuse specialization of CwiseBinaryOp::InnerIterator
+//        for that particular case
+// The two other cases are symmetric.
+
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<SparseDiagonalProduct<Lhs, Rhs> >
+{
+  typedef typename remove_all<Lhs>::type _Lhs;
+  typedef typename remove_all<Rhs>::type _Rhs;
+  typedef typename _Lhs::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Lhs::RowsAtCompileTime,
+    ColsAtCompileTime = _Rhs::ColsAtCompileTime,
+
+    MaxRowsAtCompileTime = _Lhs::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = _Rhs::MaxColsAtCompileTime,
+
+    SparseFlags = is_diagonal<_Lhs>::ret ? int(_Rhs::Flags) : int(_Lhs::Flags),
+    Flags = (SparseFlags&RowMajorBit),
+    CoeffReadCost = Dynamic
+  };
+};
+
+enum {SDP_IsDiagonal, SDP_IsSparseRowMajor, SDP_IsSparseColMajor};
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType, int RhsMode, int LhsMode>
+class sparse_diagonal_product_inner_iterator_selector;
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class SparseDiagonalProduct
+  : public SparseMatrixBase<SparseDiagonalProduct<Lhs,Rhs> >,
+    internal::no_assignment_operator
+{
+    typedef typename Lhs::Nested LhsNested;
+    typedef typename Rhs::Nested RhsNested;
+
+    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
+    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
+
+    enum {
+      LhsMode = internal::is_diagonal<_LhsNested>::ret ? internal::SDP_IsDiagonal
+              : (_LhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor,
+      RhsMode = internal::is_diagonal<_RhsNested>::ret ? internal::SDP_IsDiagonal
+              : (_RhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor
+    };
+
+  public:
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseDiagonalProduct)
+
+    typedef internal::sparse_diagonal_product_inner_iterator_selector
+                <_LhsNested,_RhsNested,SparseDiagonalProduct,LhsMode,RhsMode> InnerIterator;
+
+    EIGEN_STRONG_INLINE SparseDiagonalProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows() && "invalid sparse matrix * diagonal matrix product");
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseRowMajor>
+  : public CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator
+{
+    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.rhs()*(expr.lhs().diagonal().coeff(outer)), outer)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseColMajor>
+  : public CwiseBinaryOp<
+      scalar_product_op<typename Lhs::Scalar>,
+      SparseInnerVectorSet<Rhs,1>,
+      typename Lhs::DiagonalVectorType>::InnerIterator
+{
+    typedef typename CwiseBinaryOp<
+      scalar_product_op<typename Lhs::Scalar>,
+      SparseInnerVectorSet<Rhs,1>,
+      typename Lhs::DiagonalVectorType>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseColMajor,SDP_IsDiagonal>
+  : public CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator
+{
+    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.lhs()*expr.rhs().diagonal().coeff(outer), outer)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseRowMajor,SDP_IsDiagonal>
+  : public CwiseBinaryOp<
+      scalar_product_op<typename Rhs::Scalar>,
+      SparseInnerVectorSet<Lhs,1>,
+      Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator
+{
+    typedef typename CwiseBinaryOp<
+      scalar_product_op<typename Rhs::Scalar>,
+      SparseInnerVectorSet<Lhs,1>,
+      Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0)
+    {}
+};
+
+} // end namespace internal
+
+// SparseMatrixBase functions
+
+template<typename Derived>
+template<typename OtherDerived>
+const SparseDiagonalProduct<Derived,OtherDerived>
+SparseMatrixBase<Derived>::operator*(const DiagonalBase<OtherDerived> &other) const
+{
+  return SparseDiagonalProduct<Derived,OtherDerived>(this->derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseDot.h b/extern/Eigen3/Eigen/src/Sparse/SparseDot.h
index 7a26e0f4ba5..1f10f71a402 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseDot.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseDot.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -27,23 +27,23 @@
 
 template<typename Derived>
 template<typename OtherDerived>
-typename ei_traits<Derived>::Scalar
+typename internal::traits<Derived>::Scalar
 SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
   EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
     YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
 
-  ei_assert(size() == other.size());
-  ei_assert(other.size()>0 && "you are using a non initialized vector");
-  
+  eigen_assert(size() == other.size());
+  eigen_assert(other.size()>0 && "you are using a non initialized vector");
+
   typename Derived::InnerIterator i(derived(),0);
   Scalar res = 0;
   while (i)
   {
-    res += i.value() * ei_conj(other.coeff(i.index()));
+    res += internal::conj(i.value()) * other.coeff(i.index());
     ++i;
   }
   return res;
@@ -51,17 +51,17 @@ SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
 
 template<typename Derived>
 template<typename OtherDerived>
-typename ei_traits<Derived>::Scalar
+typename internal::traits<Derived>::Scalar
 SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
   EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
     YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  
-  ei_assert(size() == other.size());
-  
+
+  eigen_assert(size() == other.size());
+
   typename Derived::InnerIterator i(derived(),0);
   typename OtherDerived::InnerIterator j(other.derived(),0);
   Scalar res = 0;
@@ -69,7 +69,7 @@ SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) cons
   {
     if (i.index()==j.index())
     {
-      res += i.value() * ei_conj(j.value());
+      res += internal::conj(i.value()) * j.value();
       ++i; ++j;
     }
     else if (i.index()<j.index())
@@ -81,17 +81,17 @@ SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) cons
 }
 
 template<typename Derived>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
 SparseMatrixBase<Derived>::squaredNorm() const
 {
-  return ei_real((*this).cwise().abs2().sum());
+  return internal::real((*this).cwiseAbs2().sum());
 }
 
 template<typename Derived>
-inline typename NumTraits<typename ei_traits<Derived>::Scalar>::Real
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
 SparseMatrixBase<Derived>::norm() const
 {
-  return ei_sqrt(squaredNorm());
+  return internal::sqrt(squaredNorm());
 }
 
 #endif // EIGEN_SPARSE_DOT_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseFuzzy.h b/extern/Eigen3/Eigen/src/Sparse/SparseFuzzy.h
index 355f4d52eab..f00b3d6469b 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseFuzzy.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseFuzzy.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -32,10 +32,10 @@
 //   typename NumTraits<Scalar>::Real prec
 // ) const
 // {
-//   const typename ei_nested<Derived,2>::type nested(derived());
-//   const typename ei_nested<OtherDerived,2>::type otherNested(other.derived());
+//   const typename internal::nested<Derived,2>::type nested(derived());
+//   const typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
 //   return    (nested - otherNested).cwise().abs2().sum()
-//          <= prec * prec * std::min(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
+//          <= prec * prec * (std::min)(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
 // }
 
 #endif // EIGEN_SPARSE_FUZZY_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseMatrix.h b/extern/Eigen3/Eigen/src/Sparse/SparseMatrix.h
new file mode 100644
index 00000000000..0e175ec6e71
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseMatrix.h
@@ -0,0 +1,651 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEMATRIX_H
+#define EIGEN_SPARSEMATRIX_H
+
+/** \ingroup Sparse_Module
+  *
+  * \class SparseMatrix
+  *
+  * \brief The main sparse matrix class
+  *
+  * This class implements a sparse matrix using the very common compressed row/column storage
+  * scheme.
+  *
+  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
+  * \tparam _Options Union of bit flags controlling the storage scheme. Currently the only possibility
+  *                 is RowMajor. The default is 0 which means column-major.
+  * \tparam _Index the type of the indices. Default is \c int.
+  *
+  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
+  */
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<SparseMatrix<_Scalar, _Options, _Index> >
+{
+  typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = Dynamic,
+    ColsAtCompileTime = Dynamic,
+    MaxRowsAtCompileTime = Dynamic,
+    MaxColsAtCompileTime = Dynamic,
+    Flags = _Options | NestByRefBit | LvalueBit,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    SupportedAccessPatterns = InnerRandomAccessPattern
+  };
+};
+
+} // end namespace internal
+
+template<typename _Scalar, int _Options, typename _Index>
+class SparseMatrix
+  : public SparseMatrixBase<SparseMatrix<_Scalar, _Options, _Index> >
+{
+  public:
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseMatrix)
+//     using Base::operator=;
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, +=)
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, -=)
+    // FIXME: why are these operator already alvailable ???
+    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, *=)
+    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, /=)
+
+    typedef MappedSparseMatrix<Scalar,Flags> Map;
+    using Base::IsRowMajor;
+    typedef CompressedStorage<Scalar,Index> Storage;
+    enum {
+      Options = _Options
+    };
+
+  protected:
+
+    typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
+
+    Index m_outerSize;
+    Index m_innerSize;
+    Index* m_outerIndex;
+    CompressedStorage<Scalar,Index> m_data;
+
+  public:
+
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return m_outerSize; }
+    inline Index innerNonZeros(Index j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
+
+    inline const Scalar* _valuePtr() const { return &m_data.value(0); }
+    inline Scalar* _valuePtr() { return &m_data.value(0); }
+
+    inline const Index* _innerIndexPtr() const { return &m_data.index(0); }
+    inline Index* _innerIndexPtr() { return &m_data.index(0); }
+
+    inline const Index* _outerIndexPtr() const { return m_outerIndex; }
+    inline Index* _outerIndexPtr() { return m_outerIndex; }
+
+    inline Storage& data() { return m_data; }
+    inline const Storage& data() const { return m_data; }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return m_data.atInRange(m_outerIndex[outer], m_outerIndex[outer+1], inner);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      const Index p = m_data.searchLowerIndex(start,end-1,inner);
+      eigen_assert((p<end) && (m_data.index(p)==inner) && "coeffRef cannot be called on a zero coefficient");
+      return m_data.value(p);
+    }
+
+  public:
+
+    class InnerIterator;
+
+    /** Removes all non zeros */
+    inline void setZero()
+    {
+      m_data.clear();
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+    }
+
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
+
+    /** Preallocates \a reserveSize non zeros */
+    inline void reserve(Index reserveSize)
+    {
+      m_data.reserve(reserveSize);
+    }
+
+    //--- low level purely coherent filling ---
+
+    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
+      * - the nonzero does not already exist
+      * - the new coefficient is the last one according to the storage order
+      *
+      * Before filling a given inner vector you must call the statVec(Index) function.
+      *
+      * After an insertion session, you should call the finalize() function.
+      *
+      * \sa insert, insertBackByOuterInner, startVec */
+    inline Scalar& insertBack(Index row, Index col)
+    {
+      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
+    }
+
+    /** \sa insertBack, startVec */
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
+    {
+      eigen_assert(size_t(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
+      eigen_assert( (m_outerIndex[outer+1]-m_outerIndex[outer]==0 || m_data.index(m_data.size()-1)<inner) && "Invalid ordered insertion (invalid inner index)");
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \warning use it only if you know what you are doing */
+    inline Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
+    {
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \sa insertBack, insertBackByOuterInner */
+    inline void startVec(Index outer)
+    {
+      eigen_assert(m_outerIndex[outer]==int(m_data.size()) && "You must call startVec for each inner vector sequentially");
+      eigen_assert(m_outerIndex[outer+1]==0 && "You must call startVec for each inner vector sequentially");
+      m_outerIndex[outer+1] = m_outerIndex[outer];
+    }
+
+    //---
+
+    /** \returns a reference to a novel non zero coefficient with coordinates \a row x \a col.
+      * The non zero coefficient must \b not already exist.
+      *
+      * \warning This function can be extremely slow if the non zero coefficients
+      * are not inserted in a coherent order.
+      *
+      * After an insertion session, you should call the finalize() function.
+      */
+    EIGEN_DONT_INLINE Scalar& insert(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index previousOuter = outer;
+      if (m_outerIndex[outer+1]==0)
+      {
+        // we start a new inner vector
+        while (previousOuter>=0 && m_outerIndex[previousOuter]==0)
+        {
+          m_outerIndex[previousOuter] = static_cast<Index>(m_data.size());
+          --previousOuter;
+        }
+        m_outerIndex[outer+1] = m_outerIndex[outer];
+      }
+
+      // here we have to handle the tricky case where the outerIndex array
+      // starts with: [ 0 0 0 0 0 1 ...] and we are inserting in, e.g.,
+      // the 2nd inner vector...
+      bool isLastVec = (!(previousOuter==-1 && m_data.size()!=0))
+                    && (size_t(m_outerIndex[outer+1]) == m_data.size());
+
+      size_t startId = m_outerIndex[outer];
+      // FIXME let's make sure sizeof(long int) == sizeof(size_t)
+      size_t p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+
+      float reallocRatio = 1;
+      if (m_data.allocatedSize()<=m_data.size())
+      {
+        // if there is no preallocated memory, let's reserve a minimum of 32 elements
+        if (m_data.size()==0)
+        {
+          m_data.reserve(32);
+        }
+        else
+        {
+          // we need to reallocate the data, to reduce multiple reallocations
+          // we use a smart resize algorithm based on the current filling ratio
+          // in addition, we use float to avoid integers overflows
+          float nnzEstimate = float(m_outerIndex[outer])*float(m_outerSize)/float(outer+1);
+          reallocRatio = (nnzEstimate-float(m_data.size()))/float(m_data.size());
+          // furthermore we bound the realloc ratio to:
+          //   1) reduce multiple minor realloc when the matrix is almost filled
+          //   2) avoid to allocate too much memory when the matrix is almost empty
+          reallocRatio = (std::min)((std::max)(reallocRatio,1.5f),8.f);
+        }
+      }
+      m_data.resize(m_data.size()+1,reallocRatio);
+
+      if (!isLastVec)
+      {
+        if (previousOuter==-1)
+        {
+          // oops wrong guess.
+          // let's correct the outer offsets
+          for (Index k=0; k<=(outer+1); ++k)
+            m_outerIndex[k] = 0;
+          Index k=outer+1;
+          while(m_outerIndex[k]==0)
+            m_outerIndex[k++] = 1;
+          while (k<=m_outerSize && m_outerIndex[k]!=0)
+            m_outerIndex[k++]++;
+          p = 0;
+          --k;
+          k = m_outerIndex[k]-1;
+          while (k>0)
+          {
+            m_data.index(k) = m_data.index(k-1);
+            m_data.value(k) = m_data.value(k-1);
+            k--;
+          }
+        }
+        else
+        {
+          // we are not inserting into the last inner vec
+          // update outer indices:
+          Index j = outer+2;
+          while (j<=m_outerSize && m_outerIndex[j]!=0)
+            m_outerIndex[j++]++;
+          --j;
+          // shift data of last vecs:
+          Index k = m_outerIndex[j]-1;
+          while (k>=Index(p))
+          {
+            m_data.index(k) = m_data.index(k-1);
+            m_data.value(k) = m_data.value(k-1);
+            k--;
+          }
+        }
+      }
+
+      while ( (p > startId) && (m_data.index(p-1) > inner) )
+      {
+        m_data.index(p) = m_data.index(p-1);
+        m_data.value(p) = m_data.value(p-1);
+        --p;
+      }
+
+      m_data.index(p) = inner;
+      return (m_data.value(p) = 0);
+    }
+
+
+
+
+    /** Must be called after inserting a set of non zero entries.
+      */
+    inline void finalize()
+    {
+      Index size = static_cast<Index>(m_data.size());
+      Index i = m_outerSize;
+      // find the last filled column
+      while (i>=0 && m_outerIndex[i]==0)
+        --i;
+      ++i;
+      while (i<=m_outerSize)
+      {
+        m_outerIndex[i] = size;
+        ++i;
+      }
+    }
+
+    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
+    {
+      prune(default_prunning_func(reference,epsilon));
+    }
+    
+    /** Suppress all nonzeros which do not satisfy the predicate \a keep.
+      * The functor type \a KeepFunc must implement the following function:
+      * \code
+      * bool operator() (const Index& row, const Index& col, const Scalar& value) const;
+      * \endcode
+      * \sa prune(Scalar,RealScalar)
+      */
+    template<typename KeepFunc>
+    void prune(const KeepFunc& keep = KeepFunc())
+    {
+      Index k = 0;
+      for(Index j=0; j<m_outerSize; ++j)
+      {
+        Index previousStart = m_outerIndex[j];
+        m_outerIndex[j] = k;
+        Index end = m_outerIndex[j+1];
+        for(Index i=previousStart; i<end; ++i)
+        {
+          if(keep(IsRowMajor?j:m_data.index(i), IsRowMajor?m_data.index(i):j, m_data.value(i)))
+          {
+            m_data.value(k) = m_data.value(i);
+            m_data.index(k) = m_data.index(i);
+            ++k;
+          }
+        }
+      }
+      m_outerIndex[m_outerSize] = k;
+      m_data.resize(k,0);
+    }
+
+    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero
+      * \sa resizeNonZeros(Index), reserve(), setZero()
+      */
+    void resize(Index rows, Index cols)
+    {
+      const Index outerSize = IsRowMajor ? rows : cols;
+      m_innerSize = IsRowMajor ? cols : rows;
+      m_data.clear();
+      if (m_outerSize != outerSize || m_outerSize==0)
+      {
+        delete[] m_outerIndex;
+        m_outerIndex = new Index [outerSize+1];
+        m_outerSize = outerSize;
+      }
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+    }
+
+    /** Low level API
+      * Resize the nonzero vector to \a size */
+    void resizeNonZeros(Index size)
+    {
+      m_data.resize(size);
+    }
+
+    /** Default constructor yielding an empty \c 0 \c x \c 0 matrix */
+    inline SparseMatrix()
+      : m_outerSize(-1), m_innerSize(0), m_outerIndex(0)
+    {
+      resize(0, 0);
+    }
+
+    /** Constructs a \a rows \c x \a cols empty matrix */
+    inline SparseMatrix(Index rows, Index cols)
+      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      resize(rows, cols);
+    }
+
+    /** Constructs a sparse matrix from the sparse expression \a other */
+    template<typename OtherDerived>
+    inline SparseMatrix(const SparseMatrixBase<OtherDerived>& other)
+      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      *this = other.derived();
+    }
+
+    /** Copy constructor */
+    inline SparseMatrix(const SparseMatrix& other)
+      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      *this = other.derived();
+    }
+
+    /** Swap the content of two sparse matrices of same type (optimization) */
+    inline void swap(SparseMatrix& other)
+    {
+      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
+      std::swap(m_outerIndex, other.m_outerIndex);
+      std::swap(m_innerSize, other.m_innerSize);
+      std::swap(m_outerSize, other.m_outerSize);
+      m_data.swap(other.m_data);
+    }
+
+    inline SparseMatrix& operator=(const SparseMatrix& other)
+    {
+//       std::cout << "SparseMatrix& operator=(const SparseMatrix& other)\n";
+      if (other.isRValue())
+      {
+        swap(other.const_cast_derived());
+      }
+      else
+      {
+        resize(other.rows(), other.cols());
+        memcpy(m_outerIndex, other.m_outerIndex, (m_outerSize+1)*sizeof(Index));
+        m_data = other.m_data;
+      }
+      return *this;
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Lhs, typename Rhs>
+    inline SparseMatrix& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+    { return Base::operator=(product); }
+    
+    template<typename OtherDerived>
+    inline SparseMatrix& operator=(const ReturnByValue<OtherDerived>& other)
+    { return Base::operator=(other); }
+    
+    template<typename OtherDerived>
+    inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
+    { return Base::operator=(other); }
+    #endif
+
+    template<typename OtherDerived>
+    EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+      if (needToTranspose)
+      {
+        // two passes algorithm:
+        //  1 - compute the number of coeffs per dest inner vector
+        //  2 - do the actual copy/eval
+        // Since each coeff of the rhs has to be evaluated twice, let's evaluate it if needed
+        typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
+        typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
+        OtherCopy otherCopy(other.derived());
+
+        resize(other.rows(), other.cols());
+        Eigen::Map<Matrix<Index, Dynamic, 1> > (m_outerIndex,outerSize()).setZero();
+        // pass 1
+        // FIXME the above copy could be merged with that pass
+        for (Index j=0; j<otherCopy.outerSize(); ++j)
+          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+            ++m_outerIndex[it.index()];
+
+        // prefix sum
+        Index count = 0;
+        VectorXi positions(outerSize());
+        for (Index j=0; j<outerSize(); ++j)
+        {
+          Index tmp = m_outerIndex[j];
+          m_outerIndex[j] = count;
+          positions[j] = count;
+          count += tmp;
+        }
+        m_outerIndex[outerSize()] = count;
+        // alloc
+        m_data.resize(count);
+        // pass 2
+        for (Index j=0; j<otherCopy.outerSize(); ++j)
+        {
+          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+          {
+            Index pos = positions[it.index()]++;
+            m_data.index(pos) = j;
+            m_data.value(pos) = it.value();
+          }
+        }
+        return *this;
+      }
+      else
+      {
+        // there is no special optimization
+        return SparseMatrixBase<SparseMatrix>::operator=(other.derived());
+      }
+    }
+
+    friend std::ostream & operator << (std::ostream & s, const SparseMatrix& m)
+    {
+      EIGEN_DBG_SPARSE(
+        s << "Nonzero entries:\n";
+        for (Index i=0; i<m.nonZeros(); ++i)
+        {
+          s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
+        }
+        s << std::endl;
+        s << std::endl;
+        s << "Column pointers:\n";
+        for (Index i=0; i<m.outerSize(); ++i)
+        {
+          s << m.m_outerIndex[i] << " ";
+        }
+        s << " $" << std::endl;
+        s << std::endl;
+      );
+      s << static_cast<const SparseMatrixBase<SparseMatrix>&>(m);
+      return s;
+    }
+
+    /** Destructor */
+    inline ~SparseMatrix()
+    {
+      delete[] m_outerIndex;
+    }
+
+    /** Overloaded for performance */
+    Scalar sum() const;
+
+  public:
+
+    /** \deprecated use setZero() and reserve()
+      * Initializes the filling process of \c *this.
+      * \param reserveSize approximate number of nonzeros
+      * Note that the matrix \c *this is zero-ed.
+      */
+    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
+    {
+      setZero();
+      m_data.reserve(reserveSize);
+    }
+
+    /** \deprecated use insert()
+      * Like fill() but with random inner coordinates.
+      */
+    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
+    {
+      return insert(row,col);
+    }
+
+    /** \deprecated use insert()
+      */
+    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      if (m_outerIndex[outer+1]==0)
+      {
+        // we start a new inner vector
+        Index i = outer;
+        while (i>=0 && m_outerIndex[i]==0)
+        {
+          m_outerIndex[i] = m_data.size();
+          --i;
+        }
+        m_outerIndex[outer+1] = m_outerIndex[outer];
+      }
+      else
+      {
+        eigen_assert(m_data.index(m_data.size()-1)<inner && "wrong sorted insertion");
+      }
+//       std::cerr << size_t(m_outerIndex[outer+1]) << " == " << m_data.size() << "\n";
+      assert(size_t(m_outerIndex[outer+1]) == m_data.size());
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \deprecated use finalize */
+    EIGEN_DEPRECATED void endFill() { finalize(); }
+    
+#   ifdef EIGEN_SPARSEMATRIX_PLUGIN
+#     include EIGEN_SPARSEMATRIX_PLUGIN
+#   endif
+
+private:
+  struct default_prunning_func {
+    default_prunning_func(Scalar ref, RealScalar eps) : reference(ref), epsilon(eps) {}
+    inline bool operator() (const Index&, const Index&, const Scalar& value) const
+    {
+      return !internal::isMuchSmallerThan(value, reference, epsilon);
+    }
+    Scalar reference;
+    RealScalar epsilon;
+  };
+};
+
+template<typename Scalar, int _Options, typename _Index>
+class SparseMatrix<Scalar,_Options,_Index>::InnerIterator
+{
+  public:
+    InnerIterator(const SparseMatrix& mat, Index outer)
+      : m_values(mat._valuePtr()), m_indices(mat._innerIndexPtr()), m_outer(outer), m_id(mat.m_outerIndex[outer]), m_end(mat.m_outerIndex[outer+1])
+    {}
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
+
+    inline Index index() const { return m_indices[m_id]; }
+    inline Index outer() const { return m_outer; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+    inline operator bool() const { return (m_id < m_end); }
+
+  protected:
+    const Scalar* m_values;
+    const Index* m_indices;
+    const Index m_outer;
+    Index m_id;
+    const Index m_end;
+};
+
+#endif // EIGEN_SPARSEMATRIX_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseMatrixBase.h b/extern/Eigen3/Eigen/src/Sparse/SparseMatrixBase.h
index 468bc9e227c..c01981bc935 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseMatrixBase.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseMatrixBase.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,30 +25,55 @@
 #ifndef EIGEN_SPARSEMATRIXBASE_H
 #define EIGEN_SPARSEMATRIXBASE_H
 
-template<typename Derived> class SparseMatrixBase
+/** \ingroup Sparse_Module
+  *
+  * \class SparseMatrixBase
+  *
+  * \brief Base class of any sparse matrices or sparse expressions
+  *
+  * \tparam Derived
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
+  */
+template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
 {
   public:
 
-    typedef typename ei_traits<Derived>::Scalar Scalar;
-//     typedef typename Derived::InnerIterator InnerIterator;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+
+    typedef SparseMatrixBase StorageBaseType;
+    typedef EigenBase<Derived> Base;
+    
+    template<typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived> &other)
+    {
+      other.derived().evalTo(derived());
+      return derived();
+    }
+    
+//     using Base::operator=;
 
     enum {
 
-      RowsAtCompileTime = ei_traits<Derived>::RowsAtCompileTime,
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
         /**< The number of rows at compile-time. This is just a copy of the value provided
           * by the \a Derived type. If a value is not known at compile-time,
           * it is set to the \a Dynamic constant.
           * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
 
-      ColsAtCompileTime = ei_traits<Derived>::ColsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
         /**< The number of columns at compile-time. This is just a copy of the value provided
           * by the \a Derived type. If a value is not known at compile-time,
           * it is set to the \a Dynamic constant.
           * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
 
 
-      SizeAtCompileTime = (ei_size_at_compile_time<ei_traits<Derived>::RowsAtCompileTime,
-                                                   ei_traits<Derived>::ColsAtCompileTime>::ret),
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
         /**< This is equal to the number of coefficients, i.e. the number of
           * rows times the number of columns, or to \a Dynamic if this is not
           * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
@@ -56,7 +81,7 @@ template<typename Derived> class SparseMatrixBase
       MaxRowsAtCompileTime = RowsAtCompileTime,
       MaxColsAtCompileTime = ColsAtCompileTime,
 
-      MaxSizeAtCompileTime = (ei_size_at_compile_time<MaxRowsAtCompileTime,
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<MaxRowsAtCompileTime,
                                                       MaxColsAtCompileTime>::ret),
 
       IsVectorAtCompileTime = RowsAtCompileTime == 1 || ColsAtCompileTime == 1,
@@ -65,31 +90,51 @@ template<typename Derived> class SparseMatrixBase
           * we are dealing with a column-vector (if there is only one column) or with
           * a row-vector (if there is only one row). */
 
-      Flags = ei_traits<Derived>::Flags,
+      Flags = internal::traits<Derived>::Flags,
         /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
           * constructed from this one. See the \ref flags "list of flags".
           */
-      
-      CoeffReadCost = ei_traits<Derived>::CoeffReadCost,
+
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
         /**< This is a rough measure of how expensive it is to read one coefficient from
           * this expression.
           */
 
-      IsRowMajor = Flags&RowMajorBit ? 1 : 0
+      IsRowMajor = Flags&RowMajorBit ? 1 : 0,
+
+      #ifndef EIGEN_PARSED_BY_DOXYGEN
+      _HasDirectAccess = (int(Flags)&DirectAccessBit) ? 1 : 0 // workaround sunCC
+      #endif
     };
 
-    /** \internal the return type of MatrixBase::conjugate() */
-    typedef typename ei_meta_if<NumTraits<Scalar>::IsComplex,
-                        const SparseCwiseUnaryOp<ei_scalar_conjugate_op<Scalar>, Derived>,
-                        const Derived&
-                     >::ret ConjugateReturnType;
-    /** \internal the return type of MatrixBase::real() */
-    typedef CwiseUnaryOp<ei_scalar_real_op<Scalar>, Derived> RealReturnType;
-    /** \internal the return type of MatrixBase::imag() */
-    typedef CwiseUnaryOp<ei_scalar_imag_op<Scalar>, Derived> ImagReturnType;
+    /* \internal the return type of MatrixBase::conjugate() */
+//     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+//                         const SparseCwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Derived>,
+//                         const Derived&
+//                      >::type ConjugateReturnType;
+    /* \internal the return type of MatrixBase::real() */
+//     typedef SparseCwiseUnaryOp<internal::scalar_real_op<Scalar>, Derived> RealReturnType;
+    /* \internal the return type of MatrixBase::imag() */
+//     typedef SparseCwiseUnaryOp<internal::scalar_imag_op<Scalar>, Derived> ImagReturnType;
     /** \internal the return type of MatrixBase::adjoint() */
-    typedef SparseTranspose</*NestByValue<*/typename ei_cleantype<ConjugateReturnType>::type> /*>*/
-            AdjointReturnType;
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Eigen::Transpose<const Derived> >,
+                        Transpose<const Derived>
+                     >::type AdjointReturnType;
+
+
+    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor> PlainObject;
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   ifdef EIGEN_SPARSEMATRIXBASE_PLUGIN
+#     include EIGEN_SPARSEMATRIXBASE_PLUGIN
+#   endif
+#   undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** This is the "real scalar" type; if the \a Scalar type is already real numbers
@@ -100,9 +145,16 @@ template<typename Derived> class SparseMatrixBase
       */
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
+    /** \internal the return type of coeff()
+      */
+    typedef typename internal::conditional<_HasDirectAccess, const Scalar&, Scalar>::type CoeffReturnType;
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Matrix<Scalar,Dynamic,Dynamic> > ConstantReturnType;
+
     /** type of the equivalent square matrix */
-    typedef Matrix<Scalar,EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime),
-                          EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
+    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
+                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
 
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
     inline Derived& derived() { return *static_cast<Derived*>(this); }
@@ -111,15 +163,15 @@ template<typename Derived> class SparseMatrixBase
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
     /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-    inline int rows() const { return derived().rows(); }
+    inline Index rows() const { return derived().rows(); }
     /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-    inline int cols() const { return derived().cols(); }
+    inline Index cols() const { return derived().cols(); }
     /** \returns the number of coefficients, which is \a rows()*cols().
       * \sa rows(), cols(), SizeAtCompileTime. */
-    inline int size() const { return rows() * cols(); }
+    inline Index size() const { return rows() * cols(); }
     /** \returns the number of nonzero coefficients which is in practice the number
       * of stored coefficients. */
-    inline int nonZeros() const { return derived().nonZeros(); }
+    inline Index nonZeros() const { return derived().nonZeros(); }
     /** \returns true if either the number of rows or the number of columns is equal to 1.
       * In other words, this function returns
       * \code rows()==1 || cols()==1 \endcode
@@ -127,16 +179,16 @@ template<typename Derived> class SparseMatrixBase
     inline bool isVector() const { return rows()==1 || cols()==1; }
     /** \returns the size of the storage major dimension,
       * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
-    int outerSize() const { return (int(Flags)&RowMajorBit) ? this->rows() : this->cols(); }
+    Index outerSize() const { return (int(Flags)&RowMajorBit) ? this->rows() : this->cols(); }
     /** \returns the size of the inner dimension according to the storage order,
       * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
-    int innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
+    Index innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
 
     bool isRValue() const { return m_isRValue; }
     Derived& markAsRValue() { m_isRValue = true; return derived(); }
 
     SparseMatrixBase() : m_isRValue(false) { /* TODO check flags */ }
-
+    
     inline Derived& operator=(const Derived& other)
     {
 //       std::cout << "Derived& operator=(const Derived& other)\n";
@@ -146,6 +198,13 @@ template<typename Derived> class SparseMatrixBase
         this->operator=<Derived>(other);
       return derived();
     }
+    
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& other)
+    {
+      other.evalTo(derived());
+      return derived();
+    }
 
 
     template<typename OtherDerived>
@@ -153,29 +212,29 @@ template<typename Derived> class SparseMatrixBase
     {
 //       std::cout << "Derived& operator=(const MatrixBase<OtherDerived>& other)\n";
       //const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      ei_assert(( ((ei_traits<Derived>::SupportedAccessPatterns&OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
+      eigen_assert(( ((internal::traits<Derived>::SupportedAccessPatterns&OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
                   (!((Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit)))) &&
                   "the transpose operation is supposed to be handled in SparseMatrix::operator=");
 
-      const int outerSize = other.outerSize();
-      //typedef typename ei_meta_if<transpose, LinkedVectorMatrix<Scalar,Flags&RowMajorBit>, Derived>::ret TempType;
+      enum { Flip = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit) };
+
+      const Index outerSize = other.outerSize();
+      //typedef typename internal::conditional<transpose, LinkedVectorMatrix<Scalar,Flags&RowMajorBit>, Derived>::type TempType;
       // thanks to shallow copies, we always eval to a tempary
       Derived temp(other.rows(), other.cols());
 
-      temp.startFill(std::max(this->rows(),this->cols())*2);
-      for (int j=0; j<outerSize; ++j)
+      temp.reserve((std::max)(this->rows(),this->cols())*2);
+      for (Index j=0; j<outerSize; ++j)
       {
+        temp.startVec(j);
         for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
         {
           Scalar v = it.value();
           if (v!=Scalar(0))
-          {
-            if (OtherDerived::Flags & RowMajorBit) temp.fill(j,it.index()) = v;
-            else temp.fill(it.index(),j) = v;
-          }
+            temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
         }
       }
-      temp.endFill();
+      temp.finalize();
 
       derived() = temp.markAsRValue();
     }
@@ -188,25 +247,24 @@ template<typename Derived> class SparseMatrixBase
 //       std::cout << Flags << " " << OtherDerived::Flags << "\n";
       const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
 //       std::cout << "eval transpose = " << transpose << "\n";
-      const int outerSize = (int(OtherDerived::Flags) & RowMajorBit) ? other.rows() : other.cols();
+      const Index outerSize = (int(OtherDerived::Flags) & RowMajorBit) ? other.rows() : other.cols();
       if ((!transpose) && other.isRValue())
       {
         // eval without temporary
         derived().resize(other.rows(), other.cols());
-        derived().startFill(std::max(this->rows(),this->cols())*2);
-        for (int j=0; j<outerSize; ++j)
+        derived().setZero();
+        derived().reserve((std::max)(this->rows(),this->cols())*2);
+        for (Index j=0; j<outerSize; ++j)
         {
+          derived().startVec(j);
           for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
           {
             Scalar v = it.value();
             if (v!=Scalar(0))
-            {
-              if (IsRowMajor) derived().fill(j,it.index()) = v;
-              else derived().fill(it.index(),j) = v;
-            }
+              derived().insertBackByOuterInner(j,it.index()) = v;
           }
         }
-        derived().endFill();
+        derived().finalize();
       }
       else
       {
@@ -216,15 +274,18 @@ template<typename Derived> class SparseMatrixBase
     }
 
     template<typename Lhs, typename Rhs>
-    inline Derived& operator=(const SparseProduct<Lhs,Rhs,SparseTimeSparseProduct>& product);
+    inline Derived& operator=(const SparseSparseProduct<Lhs,Rhs>& product);
+
+    template<typename Lhs, typename Rhs>
+    inline void _experimentalNewProduct(const Lhs& lhs, const Rhs& rhs);
 
     friend std::ostream & operator << (std::ostream & s, const SparseMatrixBase& m)
     {
       if (Flags&RowMajorBit)
       {
-        for (int row=0; row<m.outerSize(); ++row)
+        for (Index row=0; row<m.outerSize(); ++row)
         {
-          int col = 0;
+          Index col = 0;
           for (typename Derived::InnerIterator it(m.derived(), row); it; ++it)
           {
             for ( ; col<it.index(); ++col)
@@ -240,7 +301,7 @@ template<typename Derived> class SparseMatrixBase
       else
       {
         if (m.cols() == 1) {
-          int row = 0;
+          Index row = 0;
           for (typename Derived::InnerIterator it(m.derived(), 0); it; ++it)
           {
             for ( ; row<it.index(); ++row)
@@ -260,15 +321,15 @@ template<typename Derived> class SparseMatrixBase
       return s;
     }
 
-    const SparseCwiseUnaryOp<ei_scalar_opposite_op<typename ei_traits<Derived>::Scalar>,Derived> operator-() const;
+//     const SparseCwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>,Derived> operator-() const;
 
-    template<typename OtherDerived>
-    const SparseCwiseBinaryOp<ei_scalar_sum_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-    operator+(const SparseMatrixBase<OtherDerived> &other) const;
+//     template<typename OtherDerived>
+//     const CwiseBinaryOp<internal::scalar_sum_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+//     operator+(const SparseMatrixBase<OtherDerived> &other) const;
 
-    template<typename OtherDerived>
-    const SparseCwiseBinaryOp<ei_scalar_difference_op<typename ei_traits<Derived>::Scalar>, Derived, OtherDerived>
-    operator-(const SparseMatrixBase<OtherDerived> &other) const;
+//     template<typename OtherDerived>
+//     const CwiseBinaryOp<internal::scalar_difference_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+//     operator-(const SparseMatrixBase<OtherDerived> &other) const;
 
     template<typename OtherDerived>
     Derived& operator+=(const SparseMatrixBase<OtherDerived>& other);
@@ -281,67 +342,108 @@ template<typename Derived> class SparseMatrixBase
     Derived& operator*=(const Scalar& other);
     Derived& operator/=(const Scalar& other);
 
-    const SparseCwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<Derived>::Scalar>, Derived>
-    operator*(const Scalar& scalar) const;
-    const SparseCwiseUnaryOp<ei_scalar_quotient1_op<typename ei_traits<Derived>::Scalar>, Derived>
-    operator/(const Scalar& scalar) const;
+    #define EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE \
+      CwiseBinaryOp< \
+        internal::scalar_product_op< \
+          typename internal::scalar_product_traits< \
+            typename internal::traits<Derived>::Scalar, \
+            typename internal::traits<OtherDerived>::Scalar \
+          >::ReturnType \
+        >, \
+        Derived, \
+        OtherDerived \
+      >
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+    cwiseProduct(const MatrixBase<OtherDerived> &other) const;
+
+//     const SparseCwiseUnaryOp<internal::scalar_multiple_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator*(const Scalar& scalar) const;
+//     const SparseCwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator/(const Scalar& scalar) const;
 
-    inline friend const SparseCwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<Derived>::Scalar>, Derived>
-    operator*(const Scalar& scalar, const SparseMatrixBase& matrix)
-    { return matrix*scalar; }
+//     inline friend const SparseCwiseUnaryOp<internal::scalar_multiple_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator*(const Scalar& scalar, const SparseMatrixBase& matrix)
+//     { return matrix*scalar; }
 
 
+    // sparse * sparse
     template<typename OtherDerived>
-    const typename SparseProductReturnType<Derived,OtherDerived>::Type
+    const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
     operator*(const SparseMatrixBase<OtherDerived> &other) const;
-    
-    // dense * sparse (return a dense object)
-    template<typename OtherDerived> friend 
-    const typename SparseProductReturnType<OtherDerived,Derived>::Type
+
+    // sparse * diagonal
+    template<typename OtherDerived>
+    const SparseDiagonalProduct<Derived,OtherDerived>
+    operator*(const DiagonalBase<OtherDerived> &other) const;
+
+    // diagonal * sparse
+    template<typename OtherDerived> friend
+    const SparseDiagonalProduct<OtherDerived,Derived>
+    operator*(const DiagonalBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
+    { return SparseDiagonalProduct<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
+
+    /** dense * sparse (return a dense object unless it is an outer product) */
+    template<typename OtherDerived> friend
+    const typename DenseSparseProductReturnType<OtherDerived,Derived>::Type
     operator*(const MatrixBase<OtherDerived>& lhs, const Derived& rhs)
-    { return typename SparseProductReturnType<OtherDerived,Derived>::Type(lhs.derived(),rhs); }
-    
+    { return typename DenseSparseProductReturnType<OtherDerived,Derived>::Type(lhs.derived(),rhs); }
+
+    /** sparse * dense (returns a dense object unless it is an outer product) */
     template<typename OtherDerived>
-    const typename SparseProductReturnType<Derived,OtherDerived>::Type
+    const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
     operator*(const MatrixBase<OtherDerived> &other) const;
 
     template<typename OtherDerived>
     Derived& operator*=(const SparseMatrixBase<OtherDerived>& other);
 
+    #ifdef EIGEN2_SUPPORT
+    // deprecated
     template<typename OtherDerived>
-    typename ei_plain_matrix_type_column_major<OtherDerived>::type
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type
     solveTriangular(const MatrixBase<OtherDerived>& other) const;
 
+    // deprecated
     template<typename OtherDerived>
     void solveTriangularInPlace(MatrixBase<OtherDerived>& other) const;
+//     template<typename OtherDerived>
+//     void solveTriangularInPlace(SparseMatrixBase<OtherDerived>& other) const;
+    #endif // EIGEN2_SUPPORT
+
+    template<int Mode>
+    inline const SparseTriangularView<Derived, Mode> triangularView() const;
+
+    template<unsigned int UpLo> inline const SparseSelfAdjointView<Derived, UpLo> selfadjointView() const;
+    template<unsigned int UpLo> inline SparseSelfAdjointView<Derived, UpLo> selfadjointView();
 
     template<typename OtherDerived> Scalar dot(const MatrixBase<OtherDerived>& other) const;
     template<typename OtherDerived> Scalar dot(const SparseMatrixBase<OtherDerived>& other) const;
     RealScalar squaredNorm() const;
     RealScalar norm()  const;
-//     const PlainMatrixType normalized() const;
+//     const PlainObject normalized() const;
 //     void normalize();
 
-    SparseTranspose<Derived> transpose() { return derived(); }
-    const SparseTranspose<Derived> transpose() const { return derived(); }
+    Transpose<Derived> transpose() { return derived(); }
+    const Transpose<const Derived> transpose() const { return derived(); }
     // void transposeInPlace();
-    const AdjointReturnType adjoint() const { return conjugate()/*.nestByValue()*/; }
+    const AdjointReturnType adjoint() const { return transpose(); }
 
     // sub-vector
-    SparseInnerVectorSet<Derived,1> row(int i);
-    const SparseInnerVectorSet<Derived,1> row(int i) const;
-    SparseInnerVectorSet<Derived,1> col(int j);
-    const SparseInnerVectorSet<Derived,1> col(int j) const;
-    SparseInnerVectorSet<Derived,1> innerVector(int outer);
-    const SparseInnerVectorSet<Derived,1> innerVector(int outer) const;
-    
+    SparseInnerVectorSet<Derived,1> row(Index i);
+    const SparseInnerVectorSet<Derived,1> row(Index i) const;
+    SparseInnerVectorSet<Derived,1> col(Index j);
+    const SparseInnerVectorSet<Derived,1> col(Index j) const;
+    SparseInnerVectorSet<Derived,1> innerVector(Index outer);
+    const SparseInnerVectorSet<Derived,1> innerVector(Index outer) const;
+
     // set of sub-vectors
-    SparseInnerVectorSet<Derived,Dynamic> subrows(int start, int size);
-    const SparseInnerVectorSet<Derived,Dynamic> subrows(int start, int size) const;
-    SparseInnerVectorSet<Derived,Dynamic> subcols(int start, int size);
-    const SparseInnerVectorSet<Derived,Dynamic> subcols(int start, int size) const;
-    SparseInnerVectorSet<Derived,Dynamic> innerVectors(int outerStart, int outerSize);
-    const SparseInnerVectorSet<Derived,Dynamic> innerVectors(int outerStart, int outerSize) const;
+    SparseInnerVectorSet<Derived,Dynamic> subrows(Index start, Index size);
+    const SparseInnerVectorSet<Derived,Dynamic> subrows(Index start, Index size) const;
+    SparseInnerVectorSet<Derived,Dynamic> subcols(Index start, Index size);
+    const SparseInnerVectorSet<Derived,Dynamic> subcols(Index start, Index size) const;
+    SparseInnerVectorSet<Derived,Dynamic> innerVectors(Index outerStart, Index outerSize);
+    const SparseInnerVectorSet<Derived,Dynamic> innerVectors(Index outerStart, Index outerSize) const;
 
 //     typename BlockReturnType<Derived>::Type block(int startRow, int startCol, int blockRows, int blockCols);
 //     const typename BlockReturnType<Derived>::Type
@@ -356,19 +458,11 @@ template<typename Derived> class SparseMatrixBase
 //     typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size);
 //     const typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size) const;
 //
-//     typename BlockReturnType<Derived>::Type corner(CornerType type, int cRows, int cCols);
-//     const typename BlockReturnType<Derived>::Type corner(CornerType type, int cRows, int cCols) const;
-//
 //     template<int BlockRows, int BlockCols>
 //     typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol);
 //     template<int BlockRows, int BlockCols>
 //     const typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol) const;
 
-//     template<int CRows, int CCols>
-//     typename BlockReturnType<Derived, CRows, CCols>::Type corner(CornerType type);
-//     template<int CRows, int CCols>
-//     const typename BlockReturnType<Derived, CRows, CCols>::Type corner(CornerType type) const;
-
 //     template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType start(void);
 //     template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType start() const;
 
@@ -378,8 +472,8 @@ template<typename Derived> class SparseMatrixBase
 //     template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType segment(int start);
 //     template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType segment(int start) const;
 
-//     DiagonalCoeffs<Derived> diagonal();
-//     const DiagonalCoeffs<Derived> diagonal() const;
+//     Diagonal<Derived> diagonal();
+//     const Diagonal<Derived> diagonal() const;
 
 //     template<unsigned int Mode> Part<Derived, Mode> part();
 //     template<unsigned int Mode> const Part<Derived, Mode> part() const;
@@ -419,49 +513,49 @@ template<typename Derived> class SparseMatrixBase
 //     Derived& setRandom();
 //     Derived& setIdentity();
 
-      Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> toDense() const
+      /** \internal use operator= */
+      template<typename DenseDerived>
+      void evalTo(MatrixBase<DenseDerived>& dst) const
       {
-        Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> res(rows(),cols());
-        res.setZero();
-        for (int j=0; j<outerSize(); ++j)
-        {
+        dst.setZero();
+        for (Index j=0; j<outerSize(); ++j)
           for (typename Derived::InnerIterator i(derived(),j); i; ++i)
-            if(IsRowMajor)
-              res.coeffRef(j,i.index()) = i.value();
-            else
-              res.coeffRef(i.index(),j) = i.value();
-        }
-        return res;
+            dst.coeffRef(i.row(),i.col()) = i.value();
+      }
+
+      Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> toDense() const
+      {
+        return derived();
       }
 
     template<typename OtherDerived>
     bool isApprox(const SparseMatrixBase<OtherDerived>& other,
-                  RealScalar prec = precision<Scalar>()) const
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
     { return toDense().isApprox(other.toDense(),prec); }
 
     template<typename OtherDerived>
     bool isApprox(const MatrixBase<OtherDerived>& other,
-                  RealScalar prec = precision<Scalar>()) const
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
     { return toDense().isApprox(other,prec); }
 //     bool isMuchSmallerThan(const RealScalar& other,
-//                            RealScalar prec = precision<Scalar>()) const;
+//                            RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
 //     template<typename OtherDerived>
 //     bool isMuchSmallerThan(const MatrixBase<OtherDerived>& other,
-//                            RealScalar prec = precision<Scalar>()) const;
+//                            RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
 
-//     bool isApproxToConstant(const Scalar& value, RealScalar prec = precision<Scalar>()) const;
-//     bool isZero(RealScalar prec = precision<Scalar>()) const;
-//     bool isOnes(RealScalar prec = precision<Scalar>()) const;
-//     bool isIdentity(RealScalar prec = precision<Scalar>()) const;
-//     bool isDiagonal(RealScalar prec = precision<Scalar>()) const;
+//     bool isApproxToConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isZero(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isOnes(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isIdentity(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isDiagonal(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
 
-//     bool isUpperTriangular(RealScalar prec = precision<Scalar>()) const;
-//     bool isLowerTriangular(RealScalar prec = precision<Scalar>()) const;
+//     bool isUpper(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isLower(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
 
 //     template<typename OtherDerived>
 //     bool isOrthogonal(const MatrixBase<OtherDerived>& other,
-//                       RealScalar prec = precision<Scalar>()) const;
-//     bool isUnitary(RealScalar prec = precision<Scalar>()) const;
+//                       RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isUnitary(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
 
 //     template<typename OtherDerived>
 //     inline bool operator==(const MatrixBase<OtherDerived>& other) const
@@ -472,22 +566,22 @@ template<typename Derived> class SparseMatrixBase
 //     { return (cwise() != other).any(); }
 
 
-    template<typename NewType>
-    const SparseCwiseUnaryOp<ei_scalar_cast_op<typename ei_traits<Derived>::Scalar, NewType>, Derived> cast() const;
+//     template<typename NewType>
+//     const SparseCwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, Derived> cast() const;
 
     /** \returns the matrix or vector obtained by evaluating this expression.
       *
       * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
       * a const reference, in order to avoid a useless copy.
       */
-    EIGEN_STRONG_INLINE const typename ei_eval<Derived>::type eval() const
-    { return typename ei_eval<Derived>::type(derived()); }
+    inline const typename internal::eval<Derived>::type eval() const
+    { return typename internal::eval<Derived>::type(derived()); }
 
 //     template<typename OtherDerived>
-//     void swap(const MatrixBase<OtherDerived>& other);
+//     void swap(MatrixBase<OtherDerived> const & other);
 
-    template<unsigned int Added>
-    const SparseFlagged<Derived, Added, 0> marked() const;
+//     template<unsigned int Added>
+//     const SparseFlagged<Derived, Added, 0> marked() const;
 //     const Flagged<Derived, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit> lazy() const;
 
     /** \returns number of elements to skip to pass from one row (resp. column) to another
@@ -497,15 +591,13 @@ template<typename Derived> class SparseMatrixBase
       */
 //     inline int stride(void) const { return derived().stride(); }
 
-//     inline const NestByValue<Derived> nestByValue() const;
-
-
-    ConjugateReturnType conjugate() const;
-    const RealReturnType real() const;
-    const ImagReturnType imag() const;
+// FIXME
+//     ConjugateReturnType conjugate() const;
+//     const RealReturnType real() const;
+//     const ImagReturnType imag() const;
 
-    template<typename CustomUnaryOp>
-    const SparseCwiseUnaryOp<CustomUnaryOp, Derived> unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const;
+//     template<typename CustomUnaryOp>
+//     const SparseCwiseUnaryOp<CustomUnaryOp, Derived> unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const;
 
 //     template<typename CustomBinaryOp, typename OtherDerived>
 //     const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
@@ -515,22 +607,22 @@ template<typename Derived> class SparseMatrixBase
     Scalar sum() const;
 //     Scalar trace() const;
 
-//     typename ei_traits<Derived>::Scalar minCoeff() const;
-//     typename ei_traits<Derived>::Scalar maxCoeff() const;
+//     typename internal::traits<Derived>::Scalar minCoeff() const;
+//     typename internal::traits<Derived>::Scalar maxCoeff() const;
 
-//     typename ei_traits<Derived>::Scalar minCoeff(int* row, int* col = 0) const;
-//     typename ei_traits<Derived>::Scalar maxCoeff(int* row, int* col = 0) const;
+//     typename internal::traits<Derived>::Scalar minCoeff(int* row, int* col = 0) const;
+//     typename internal::traits<Derived>::Scalar maxCoeff(int* row, int* col = 0) const;
 
 //     template<typename BinaryOp>
-//     typename ei_result_of<BinaryOp(typename ei_traits<Derived>::Scalar)>::type
+//     typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
 //     redux(const BinaryOp& func) const;
 
 //     template<typename Visitor>
 //     void visit(Visitor& func) const;
 
 
-    const SparseCwise<Derived> cwise() const;
-    SparseCwise<Derived> cwise();
+//     const SparseCwise<Derived> cwise() const;
+//     SparseCwise<Derived> cwise();
 
 //     inline const WithFormat<Derived> format(const IOFormat& fmt) const;
 
@@ -539,12 +631,12 @@ template<typename Derived> class SparseMatrixBase
     bool all(void) const;
     bool any(void) const;
 
-    const PartialRedux<Derived,Horizontal> rowwise() const;
-    const PartialRedux<Derived,Vertical> colwise() const;
+    const VectorwiseOp<Derived,Horizontal> rowwise() const;
+    const VectorwiseOp<Derived,Vertical> colwise() const;
 
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random(int rows, int cols);
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random(int size);
-    static const CwiseNullaryOp<ei_scalar_random_op<Scalar>,Derived> Random();
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(int rows, int cols);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(int size);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
 
     template<typename ThenDerived,typename ElseDerived>
     const Select<Derived,ThenDerived,ElseDerived>
@@ -552,11 +644,11 @@ template<typename Derived> class SparseMatrixBase
            const MatrixBase<ElseDerived>& elseMatrix) const;
 
     template<typename ThenDerived>
-    inline const Select<Derived,ThenDerived, NestByValue<typename ThenDerived::ConstantReturnType> >
+    inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
     select(const MatrixBase<ThenDerived>& thenMatrix, typename ThenDerived::Scalar elseScalar) const;
 
     template<typename ElseDerived>
-    inline const Select<Derived, NestByValue<typename ElseDerived::ConstantReturnType>, ElseDerived >
+    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
     select(typename ElseDerived::Scalar thenScalar, const MatrixBase<ElseDerived>& elseMatrix) const;
 
     template<int p> RealScalar lpNorm() const;
@@ -568,10 +660,10 @@ template<typename Derived> class SparseMatrixBase
 //     {
 //       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
 //       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-//       EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
+//       EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
 //         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
 //
-//       ei_assert(derived().size() == other.size());
+//       eigen_assert(derived().size() == other.size());
 //       // short version, but the assembly looks more complicated because
 //       // of the CwiseBinaryOp iterator complexity
 //       // return res = (derived().cwise() * other.derived().conjugate()).sum();
@@ -585,7 +677,7 @@ template<typename Derived> class SparseMatrixBase
 //         if (i.index()==j.index())
 //         {
 // //           std::cerr << i.value() << " * " << j.value() << "\n";
-//           res += i.value() * ei_conj(j.value());
+//           res += i.value() * internal::conj(j.value());
 //           ++i; ++j;
 //         }
 //         else if (i.index()<j.index())
@@ -606,18 +698,6 @@ template<typename Derived> class SparseMatrixBase
 //       return res;
 //     }
 
-    #ifdef EIGEN_TAUCS_SUPPORT
-    taucs_ccs_matrix asTaucsMatrix();
-    #endif
-
-    #ifdef EIGEN_CHOLMOD_SUPPORT
-    cholmod_sparse asCholmodMatrix();
-    #endif
-
-    #ifdef EIGEN_SUPERLU_SUPPORT
-    SluMatrix asSluMatrix();
-    #endif
-
   protected:
 
     bool m_isRValue;
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseProduct.h b/extern/Eigen3/Eigen/src/Sparse/SparseProduct.h
new file mode 100644
index 00000000000..1c1f54706ac
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseProduct.h
@@ -0,0 +1,141 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEPRODUCT_H
+#define EIGEN_SPARSEPRODUCT_H
+
+template<typename Lhs, typename Rhs>
+struct SparseSparseProductReturnType
+{
+  typedef typename internal::traits<Lhs>::Scalar Scalar;
+  enum {
+    LhsRowMajor = internal::traits<Lhs>::Flags & RowMajorBit,
+    RhsRowMajor = internal::traits<Rhs>::Flags & RowMajorBit,
+    TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
+    TransposeLhs = LhsRowMajor && (!RhsRowMajor)
+  };
+
+  typedef typename internal::conditional<TransposeLhs,
+    SparseMatrix<Scalar,0>,
+    const typename internal::nested<Lhs,Rhs::RowsAtCompileTime>::type>::type LhsNested;
+
+  typedef typename internal::conditional<TransposeRhs,
+    SparseMatrix<Scalar,0>,
+    const typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type>::type RhsNested;
+
+  typedef SparseSparseProduct<LhsNested, RhsNested> Type;
+};
+
+namespace internal {
+template<typename LhsNested, typename RhsNested>
+struct traits<SparseSparseProduct<LhsNested, RhsNested> >
+{
+  typedef MatrixXpr XprKind;
+  // clean the nested types:
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+  typedef typename _LhsNested::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
+                                         typename traits<_RhsNested>::Index>::type Index;
+
+  enum {
+    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+    LhsFlags = _LhsNested::Flags,
+    RhsFlags = _RhsNested::Flags,
+
+    RowsAtCompileTime    = _LhsNested::RowsAtCompileTime,
+    ColsAtCompileTime    = _RhsNested::ColsAtCompileTime,
+    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
+
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
+
+    EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
+
+    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
+
+    Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
+          | EvalBeforeAssigningBit
+          | EvalBeforeNestingBit,
+
+    CoeffReadCost = Dynamic
+  };
+
+  typedef Sparse StorageKind;
+};
+
+} // end namespace internal
+
+template<typename LhsNested, typename RhsNested>
+class SparseSparseProduct : internal::no_assignment_operator,
+  public SparseMatrixBase<SparseSparseProduct<LhsNested, RhsNested> >
+{
+  public:
+
+    typedef SparseMatrixBase<SparseSparseProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SparseSparseProduct)
+
+  private:
+
+    typedef typename internal::traits<SparseSparseProduct>::_LhsNested _LhsNested;
+    typedef typename internal::traits<SparseSparseProduct>::_RhsNested _RhsNested;
+
+  public:
+
+    template<typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows());
+
+      enum {
+        ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
+                      || _RhsNested::RowsAtCompileTime==Dynamic
+                      || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
+        AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
+        SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
+      };
+      // note to the lost user:
+      //    * for a dot product use: v1.dot(v2)
+      //    * for a coeff-wise product use: v1.cwise()*v2
+      EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+      EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+      EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+#endif // EIGEN_SPARSEPRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseRedux.h b/extern/Eigen3/Eigen/src/Sparse/SparseRedux.h
new file mode 100644
index 00000000000..afc49de7aad
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseRedux.h
@@ -0,0 +1,56 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEREDUX_H
+#define EIGEN_SPARSEREDUX_H
+
+template<typename Derived>
+typename internal::traits<Derived>::Scalar
+SparseMatrixBase<Derived>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  Scalar res = 0;
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator iter(derived(),j); iter; ++iter)
+      res += iter.value();
+  return res;
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+typename internal::traits<SparseMatrix<_Scalar,_Options,_Index> >::Scalar
+SparseMatrix<_Scalar,_Options,_Index>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+typename internal::traits<SparseVector<_Scalar,_Options, _Index> >::Scalar
+SparseVector<_Scalar,_Options,_Index>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+}
+
+#endif // EIGEN_SPARSEREDUX_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseSelfAdjointView.h b/extern/Eigen3/Eigen/src/Sparse/SparseSelfAdjointView.h
new file mode 100644
index 00000000000..d82044c789c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseSelfAdjointView.h
@@ -0,0 +1,454 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_SELFADJOINTVIEW_H
+#define EIGEN_SPARSE_SELFADJOINTVIEW_H
+
+/** \class SparseSelfAdjointView
+  *
+  *
+  * \brief Pseudo expression to manipulate a triangular sparse matrix as a selfadjoint matrix.
+  *
+  * \param MatrixType the type of the dense matrix storing the coefficients
+  * \param UpLo can be either \c #Lower or \c #Upper
+  *
+  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
+  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa SparseMatrixBase::selfadjointView()
+  */
+template<typename Lhs, typename Rhs, int UpLo>
+class SparseSelfAdjointTimeDenseProduct;
+
+template<typename Lhs, typename Rhs, int UpLo>
+class DenseTimeSparseSelfAdjointProduct;
+
+template<typename MatrixType,int UpLo>
+class SparseSymmetricPermutationProduct;
+
+namespace internal {
+  
+template<typename MatrixType, unsigned int UpLo>
+struct traits<SparseSelfAdjointView<MatrixType,UpLo> > : traits<MatrixType> {
+};
+
+template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+
+template<int UpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+
+}
+
+template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
+  : public EigenBase<SparseSelfAdjointView<MatrixType,UpLo> >
+{
+  public:
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+
+    inline SparseSelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    {
+      eigen_assert(rows()==cols() && "SelfAdjointView is only for squared matrices");
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    /** \internal \returns a reference to the nested matrix */
+    const _MatrixTypeNested& matrix() const { return m_matrix; }
+    _MatrixTypeNested& matrix() { return m_matrix.const_cast_derived(); }
+
+    /** Efficient sparse self-adjoint matrix times dense vector/matrix product */
+    template<typename OtherDerived>
+    SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>(m_matrix, rhs.derived());
+    }
+
+    /** Efficient dense vector/matrix times sparse self-adjoint matrix product */
+    template<typename OtherDerived> friend
+    DenseTimeSparseSelfAdjointProduct<OtherDerived,MatrixType,UpLo>
+    operator*(const MatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
+    {
+      return DenseTimeSparseSelfAdjointProduct<OtherDerived,_MatrixTypeNested,UpLo>(lhs.derived(), rhs.m_matrix);
+    }
+
+    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
+      *
+      * \returns a reference to \c *this
+      *
+      * Note that it is faster to set alpha=0 than initializing the matrix to zero
+      * and then keep the default value alpha=1.
+      *
+      * To perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
+      * call this function with u.adjoint().
+      */
+    template<typename DerivedU>
+    SparseSelfAdjointView& rankUpdate(const SparseMatrixBase<DerivedU>& u, Scalar alpha = Scalar(1));
+    
+    /** \internal triggered by sparse_matrix = SparseSelfadjointView; */
+    template<typename DestScalar> void evalTo(SparseMatrix<DestScalar>& _dest) const
+    {
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, _dest);
+    }
+    
+    template<typename DestScalar> void evalTo(DynamicSparseMatrix<DestScalar>& _dest) const
+    {
+      // TODO directly evaluate into _dest;
+      SparseMatrix<DestScalar> tmp(_dest.rows(),_dest.cols());
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, tmp);
+      _dest = tmp;
+    }
+    
+    /** \returns an expression of P^-1 H P */
+    SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo> twistedBy(const PermutationMatrix<Dynamic>& perm) const
+    {
+      return SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo>(m_matrix, perm);
+    }
+    
+    template<typename SrcMatrixType,int SrcUpLo>
+    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcUpLo>& permutedMatrix)
+    {
+      permutedMatrix.evalTo(*this);
+      return *this;
+    }
+    
+
+    // const SparseLLT<PlainObject, UpLo> llt() const;
+    // const SparseLDLT<PlainObject, UpLo> ldlt() const;
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    mutable VectorI m_countPerRow;
+    mutable VectorI m_countPerCol;
+};
+
+/***************************************************************************
+* Implementation of SparseMatrixBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<unsigned int UpLo>
+const SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView() const
+{
+  return derived();
+}
+
+template<typename Derived>
+template<unsigned int UpLo>
+SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView()
+{
+  return derived();
+}
+
+/***************************************************************************
+* Implementation of SparseSelfAdjointView methods
+***************************************************************************/
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU>
+SparseSelfAdjointView<MatrixType,UpLo>&
+SparseSelfAdjointView<MatrixType,UpLo>::rankUpdate(const SparseMatrixBase<DerivedU>& u, Scalar alpha)
+{
+  SparseMatrix<Scalar,MatrixType::Flags&RowMajorBit?RowMajor:ColMajor> tmp = u * u.adjoint();
+  if(alpha==Scalar(0))
+    m_matrix.const_cast_derived() = tmp.template triangularView<UpLo>();
+  else
+    m_matrix.const_cast_derived() += alpha * tmp.template triangularView<UpLo>();
+
+  return *this;
+}
+
+/***************************************************************************
+* Implementation of sparse self-adjoint time dense matrix
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, typename Rhs, int UpLo>
+struct traits<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo> >
+ : traits<ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+};
+}
+
+template<typename Lhs, typename Rhs, int UpLo>
+class SparseSelfAdjointTimeDenseProduct
+  : public ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseSelfAdjointTimeDenseProduct)
+
+    SparseSelfAdjointTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      // TODO use alpha
+      eigen_assert(alpha==Scalar(1) && "alpha != 1 is not implemented yet, sorry");
+      typedef typename internal::remove_all<Lhs>::type _Lhs;
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Lhs::InnerIterator LhsInnerIterator;
+      enum {
+        LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit,
+        ProcessFirstHalf =
+                 ((UpLo&(Upper|Lower))==(Upper|Lower))
+              || ( (UpLo&Upper) && !LhsIsRowMajor)
+              || ( (UpLo&Lower) && LhsIsRowMajor),
+        ProcessSecondHalf = !ProcessFirstHalf
+      };
+      for (Index j=0; j<m_lhs.outerSize(); ++j)
+      {
+        LhsInnerIterator i(m_lhs,j);
+        if (ProcessSecondHalf && i && (i.index()==j))
+        {
+          dest.row(j) += i.value() * m_rhs.row(j);
+          ++i;
+        }
+        Block<Dest,1,Dest::ColsAtCompileTime> dest_j(dest.row(LhsIsRowMajor ? j : 0));
+        for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
+        {
+          Index a = LhsIsRowMajor ? j : i.index();
+          Index b = LhsIsRowMajor ? i.index() : j;
+          typename Lhs::Scalar v = i.value();
+          dest.row(a) += (v) * m_rhs.row(b);
+          dest.row(b) += internal::conj(v) * m_rhs.row(a);
+        }
+        if (ProcessFirstHalf && i && (i.index()==j))
+          dest.row(j) += i.value() * m_rhs.row(j);
+      }
+    }
+
+  private:
+    SparseSelfAdjointTimeDenseProduct& operator=(const SparseSelfAdjointTimeDenseProduct&);
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs, int UpLo>
+struct traits<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo> >
+ : traits<ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, typename Rhs, int UpLo>
+class DenseTimeSparseSelfAdjointProduct
+  : public ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseSelfAdjointProduct)
+
+    DenseTimeSparseSelfAdjointProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& /*dest*/, Scalar /*alpha*/) const
+    {
+      // TODO
+    }
+
+  private:
+    DenseTimeSparseSelfAdjointProduct& operator=(const DenseTimeSparseSelfAdjointProduct&);
+};
+
+/***************************************************************************
+* Implementation of symmetric copies and permutations
+***************************************************************************/
+namespace internal {
+  
+template<typename MatrixType, int UpLo>
+struct traits<SparseSymmetricPermutationProduct<MatrixType,UpLo> > : traits<MatrixType> {
+};
+
+template<int UpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
+  typedef Matrix<Index,Dynamic,1> VectorI;
+  
+  Dest& dest(_dest.derived());
+  enum {
+    StorageOrderMatch = int(Dest::IsRowMajor) == int(MatrixType::IsRowMajor)
+  };
+  eigen_assert(perm==0);
+  Index size = mat.rows();
+  VectorI count;
+  count.resize(size);
+  count.setZero();
+  dest.resize(size,size);
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      Index ip = perm ? perm[i] : i;
+      if(i==j)
+        count[ip]++;
+      else if((UpLo==Lower && i>j) || (UpLo==Upper && i<j))
+      {
+        count[ip]++;
+        count[jp]++;
+      }
+    }
+  }
+  Index nnz = count.sum();
+  
+  // reserve space
+  dest.reserve(nnz);
+  dest._outerIndexPtr()[0] = 0;
+  for(Index j=0; j<size; ++j)
+    dest._outerIndexPtr()[j+1] = dest._outerIndexPtr()[j] + count[j];
+  for(Index j=0; j<size; ++j)
+    count[j] = dest._outerIndexPtr()[j];
+  
+  // copy data
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      Index ip = perm ? perm[i] : i;
+      if(i==j)
+      {
+        int k = count[ip]++;
+        dest._innerIndexPtr()[k] = ip;
+        dest._valuePtr()[k] = it.value();
+      }
+      else if((UpLo==Lower && i>j) || (UpLo==Upper && i<j))
+      {
+        int k = count[jp]++;
+        dest._innerIndexPtr()[k] = ip;
+        dest._valuePtr()[k] = it.value();
+        k = count[ip]++;
+        dest._innerIndexPtr()[k] = jp;
+        dest._valuePtr()[k] = internal::conj(it.value());
+      }
+    }
+  }
+}
+
+template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
+  Dest& dest(_dest.derived());
+  typedef Matrix<Index,Dynamic,1> VectorI;
+  //internal::conj_if<SrcUpLo!=DstUpLo> cj;
+  
+  Index size = mat.rows();
+  VectorI count(size);
+  count.setZero();
+  dest.resize(size,size);
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      if((SrcUpLo==Lower && i<j) || (SrcUpLo==Upper && i>j))
+        continue;
+                  
+      Index ip = perm ? perm[i] : i;
+      count[DstUpLo==Lower ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+    }
+  }
+  dest._outerIndexPtr()[0] = 0;
+  for(Index j=0; j<size; ++j)
+    dest._outerIndexPtr()[j+1] = dest._outerIndexPtr()[j] + count[j];
+  dest.resizeNonZeros(dest._outerIndexPtr()[size]);
+  for(Index j=0; j<size; ++j)
+    count[j] = dest._outerIndexPtr()[j];
+  
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      if((SrcUpLo==Lower && i<j) || (SrcUpLo==Upper && i>j))
+        continue;
+                  
+      Index ip = perm? perm[i] : i;
+      Index k = count[DstUpLo==Lower ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+      dest._innerIndexPtr()[k] = DstUpLo==Lower ? (std::max)(ip,jp) : (std::min)(ip,jp);
+      
+      if((DstUpLo==Lower && ip<jp) || (DstUpLo==Upper && ip>jp))
+        dest._valuePtr()[k] = conj(it.value());
+      else
+        dest._valuePtr()[k] = it.value();
+    }
+  }
+}
+
+}
+
+template<typename MatrixType,int UpLo>
+class SparseSymmetricPermutationProduct
+  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,UpLo> >
+{
+    typedef PermutationMatrix<Dynamic> Perm;
+  public:
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+    
+    SparseSymmetricPermutationProduct(const MatrixType& mat, const Perm& perm)
+      : m_matrix(mat), m_perm(perm)
+    {}
+    
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    
+    template<typename DestScalar> void evalTo(SparseMatrix<DestScalar>& _dest) const
+    {
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix,_dest,m_perm.indices().data());
+    }
+    
+    template<typename DestType,unsigned int DestUpLo> void evalTo(SparseSelfAdjointView<DestType,DestUpLo>& dest) const
+    {
+      internal::permute_symm_to_symm<UpLo,DestUpLo>(m_matrix,dest.matrix(),m_perm.indices().data());
+    }
+    
+  protected:
+    const MatrixTypeNested m_matrix;
+    const Perm& m_perm;
+
+};
+
+#endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseSparseProduct.h b/extern/Eigen3/Eigen/src/Sparse/SparseSparseProduct.h
new file mode 100644
index 00000000000..19abcd1f8e4
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseSparseProduct.h
@@ -0,0 +1,401 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSESPARSEPRODUCT_H
+#define EIGEN_SPARSESPARSEPRODUCT_H
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_product_impl2(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  typedef typename remove_all<Lhs>::type::Index Index;
+
+  // make sure to call innerSize/outerSize since we fake the storage order.
+  Index rows = lhs.innerSize();
+  Index cols = rhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  std::vector<bool> mask(rows,false);
+  Matrix<Scalar,Dynamic,1> values(rows);
+  Matrix<Index,Dynamic,1>    indices(rows);
+
+  // estimate the number of non zero entries
+  float ratioLhs = float(lhs.nonZeros())/(float(lhs.rows())*float(lhs.cols()));
+  float avgNnzPerRhsColumn = float(rhs.nonZeros())/float(cols);
+  float ratioRes = (std::min)(ratioLhs * avgNnzPerRhsColumn, 1.f);
+
+//  int t200 = rows/(log2(200)*1.39);
+//  int t = (rows*100)/139;
+
+  res.resize(rows, cols);
+  res.reserve(Index(ratioRes*rows*cols));
+  // we compute each column of the result, one after the other
+  for (Index j=0; j<cols; ++j)
+  {
+
+    res.startVec(j);
+    Index nnz = 0;
+    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    {
+      Scalar y = rhsIt.value();
+      Index k = rhsIt.index();
+      for (typename Lhs::InnerIterator lhsIt(lhs, k); lhsIt; ++lhsIt)
+      {
+        Index i = lhsIt.index();
+        Scalar x = lhsIt.value();
+        if(!mask[i])
+        {
+          mask[i] = true;
+//           values[i] = x * y;
+//           indices[nnz] = i;
+          ++nnz;
+        }
+        else
+          values[i] += x * y;
+      }
+    }
+    // FIXME reserve nnz non zeros
+    // FIXME implement fast sort algorithms for very small nnz
+    // if the result is sparse enough => use a quick sort
+    // otherwise => loop through the entire vector
+    // In order to avoid to perform an expensive log2 when the
+    // result is clearly very sparse we use a linear bound up to 200.
+//     if((nnz<200 && nnz<t200) || nnz * log2(nnz) < t)
+//     {
+//       if(nnz>1) std::sort(indices.data(),indices.data()+nnz);
+//       for(int k=0; k<nnz; ++k)
+//       {
+//         int i = indices[k];
+//         res.insertBackNoCheck(j,i) = values[i];
+//         mask[i] = false;
+//       }
+//     }
+//     else
+//     {
+//       // dense path
+//       for(int i=0; i<rows; ++i)
+//       {
+//         if(mask[i])
+//         {
+//           mask[i] = false;
+//           res.insertBackNoCheck(j,i) = values[i];
+//         }
+//       }
+//     }
+
+  }
+  res.finalize();
+}
+
+// perform a pseudo in-place sparse * sparse product assuming all matrices are col major
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+//   return sparse_product_impl2(lhs,rhs,res);
+
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  typedef typename remove_all<Lhs>::type::Index Index;
+
+  // make sure to call innerSize/outerSize since we fake the storage order.
+  Index rows = lhs.innerSize();
+  Index cols = rhs.outerSize();
+  //int size = lhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  // allocate a temporary buffer
+  AmbiVector<Scalar,Index> tempVector(rows);
+
+  // estimate the number of non zero entries
+  float ratioLhs = float(lhs.nonZeros())/(float(lhs.rows())*float(lhs.cols()));
+  float avgNnzPerRhsColumn = float(rhs.nonZeros())/float(cols);
+  float ratioRes = (std::min)(ratioLhs * avgNnzPerRhsColumn, 1.f);
+
+  // mimics a resizeByInnerOuter:
+  if(ResultType::IsRowMajor)
+    res.resize(cols, rows);
+  else
+    res.resize(rows, cols);
+
+  res.reserve(Index(ratioRes*rows*cols));
+  for (Index j=0; j<cols; ++j)
+  {
+    // let's do a more accurate determination of the nnz ratio for the current column j of res
+    //float ratioColRes = (std::min)(ratioLhs * rhs.innerNonZeros(j), 1.f);
+    // FIXME find a nice way to get the number of nonzeros of a sub matrix (here an inner vector)
+    float ratioColRes = ratioRes;
+    tempVector.init(ratioColRes);
+    tempVector.setZero();
+    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    {
+      // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
+      tempVector.restart();
+      Scalar x = rhsIt.value();
+      for (typename Lhs::InnerIterator lhsIt(lhs, rhsIt.index()); lhsIt; ++lhsIt)
+      {
+        tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
+      }
+    }
+    res.startVec(j);
+    for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector); it; ++it)
+      res.insertBackByOuterInner(j,it.index()) = it.value();
+  }
+  res.finalize();
+}
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit,
+  int RhsStorageOrder = traits<Rhs>::Flags&RowMajorBit,
+  int ResStorageOrder = traits<ResultType>::Flags&RowMajorBit>
+struct sparse_product_selector;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
+    sparse_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, _res);
+    res.swap(_res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    // we need a col-major matrix to hold the result
+    typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
+    SparseTemporaryType _res(res.rows(), res.cols());
+    sparse_product_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res);
+    res = _res;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    // let's transpose the product to get a column x column product
+    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
+    sparse_product_impl<Rhs,Lhs,ResultType>(rhs, lhs, _res);
+    res.swap(_res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << "here...\n";
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix colLhs(lhs);
+    ColMajorMatrix colRhs(rhs);
+//     std::cerr << "more...\n";
+    sparse_product_impl<ColMajorMatrix,ColMajorMatrix,ResultType>(colLhs, colRhs, res);
+//     std::cerr << "OK.\n";
+
+    // let's transpose the product to get a column x column product
+
+//     typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
+//     SparseTemporaryType _res(res.cols(), res.rows());
+//     sparse_product_impl<Rhs,Lhs,SparseTemporaryType>(rhs, lhs, _res);
+//     res = _res.transpose();
+  }
+};
+
+// NOTE the 2 others cases (col row *) must never occur since they are caught
+// by ProductReturnType which transforms it to (col col *) by evaluating rhs.
+
+} // end namespace internal
+
+// sparse = sparse * sparse
+template<typename Derived>
+template<typename Lhs, typename Rhs>
+inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+{
+//   std::cerr << "there..." << typeid(Lhs).name() << "  " << typeid(Lhs).name() << " " << (Derived::Flags&&RowMajorBit) << "\n";
+  internal::sparse_product_selector<
+    typename internal::remove_all<Lhs>::type,
+    typename internal::remove_all<Rhs>::type,
+    Derived>::run(product.lhs(),product.rhs(),derived());
+  return derived();
+}
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit,
+  int RhsStorageOrder = traits<Rhs>::Flags&RowMajorBit,
+  int ResStorageOrder = traits<ResultType>::Flags&RowMajorBit>
+struct sparse_product_selector2;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    sparse_product_impl2<Lhs,Rhs,ResultType>(lhs, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+      // prevent warnings until the code is fixed
+      EIGEN_UNUSED_VARIABLE(lhs);
+      EIGEN_UNUSED_VARIABLE(rhs);
+      EIGEN_UNUSED_VARIABLE(res);
+
+//     typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+//     RowMajorMatrix rhsRow = rhs;
+//     RowMajorMatrix resRow(res.rows(), res.cols());
+//     sparse_product_impl2<RowMajorMatrix,Lhs,RowMajorMatrix>(rhsRow, lhs, resRow);
+//     res = resRow;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+    RowMajorMatrix lhsRow = lhs;
+    RowMajorMatrix resRow(res.rows(), res.cols());
+    sparse_product_impl2<Rhs,RowMajorMatrix,RowMajorMatrix>(rhs, lhsRow, resRow);
+    res = resRow;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+    RowMajorMatrix resRow(res.rows(), res.cols());
+    sparse_product_impl2<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
+    res = resRow;
+  }
+};
+
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix lhsCol = lhs;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<ColMajorMatrix,Rhs,ColMajorMatrix>(lhsCol, rhs, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix rhsCol = rhs;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<Lhs,ColMajorMatrix,ColMajorMatrix>(lhs, rhsCol, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+//     ColMajorMatrix lhsTr(lhs);
+//     ColMajorMatrix rhsTr(rhs);
+//     ColMajorMatrix aux(res.rows(), res.cols());
+//     sparse_product_impl2<Rhs,Lhs,ColMajorMatrix>(rhs, lhs, aux);
+// //     ColMajorMatrix aux2 = aux.transpose();
+//     res = aux;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix lhsCol(lhs);
+    ColMajorMatrix rhsCol(rhs);
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<ColMajorMatrix,ColMajorMatrix,ColMajorMatrix>(lhsCol, rhsCol, resCol);
+    res = resCol;
+  }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename Lhs, typename Rhs>
+inline void SparseMatrixBase<Derived>::_experimentalNewProduct(const Lhs& lhs, const Rhs& rhs)
+{
+  //derived().resize(lhs.rows(), rhs.cols());
+  internal::sparse_product_selector2<
+    typename internal::remove_all<Lhs>::type,
+    typename internal::remove_all<Rhs>::type,
+    Derived>::run(lhs,rhs,derived());
+}
+
+// sparse * sparse
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
+SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
+{
+  return typename SparseSparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSESPARSEPRODUCT_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseTranspose.h b/extern/Eigen3/Eigen/src/Sparse/SparseTranspose.h
new file mode 100644
index 00000000000..2aea2fa32c7
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseTranspose.h
@@ -0,0 +1,68 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSETRANSPOSE_H
+#define EIGEN_SPARSETRANSPOSE_H
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
+  : public SparseMatrixBase<Transpose<MatrixType> >
+{
+    typedef typename internal::remove_all<typename MatrixType::Nested>::type _MatrixTypeNested;
+  public:
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
+
+    class InnerIterator;
+    class ReverseInnerIterator;
+
+    inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
+};
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::InnerIterator
+  : public _MatrixTypeNested::InnerIterator
+{
+    typedef typename _MatrixTypeNested::InnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const TransposeImpl& trans, Index outer)
+      : Base(trans.derived().nestedExpression(), outer)
+    {}
+    inline Index row() const { return Base::col(); }
+    inline Index col() const { return Base::row(); }
+};
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::ReverseInnerIterator
+  : public _MatrixTypeNested::ReverseInnerIterator
+{
+    typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE ReverseInnerIterator(const TransposeImpl& xpr, Index outer)
+      : Base(xpr.derived().nestedExpression(), outer)
+    {}
+    inline Index row() const { return Base::col(); }
+    inline Index col() const { return Base::row(); }
+};
+
+#endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseTriangularView.h b/extern/Eigen3/Eigen/src/Sparse/SparseTriangularView.h
new file mode 100644
index 00000000000..319eaf06638
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseTriangularView.h
@@ -0,0 +1,100 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
+#define EIGEN_SPARSE_TRIANGULARVIEW_H
+
+namespace internal {
+  
+template<typename MatrixType, int Mode>
+struct traits<SparseTriangularView<MatrixType,Mode> >
+: public traits<MatrixType>
+{};
+
+} // namespace internal
+
+template<typename MatrixType, int Mode> class SparseTriangularView
+  : public SparseMatrixBase<SparseTriangularView<MatrixType,Mode> >
+{
+    enum { SkipFirst = (Mode==Lower && !(MatrixType::Flags&RowMajorBit))
+                    || (Mode==Upper &&  (MatrixType::Flags&RowMajorBit)) };
+  public:
+    
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseTriangularView)
+
+    class InnerIterator;
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    typedef typename internal::conditional<internal::must_nest_by_value<MatrixType>::ret,
+        MatrixType, const MatrixType&>::type MatrixTypeNested;
+
+    inline SparseTriangularView(const MatrixType& matrix) : m_matrix(matrix) {}
+
+    /** \internal */
+    inline const MatrixType& nestedExpression() const { return m_matrix; }
+
+    template<typename OtherDerived>
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type
+    solve(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
+    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
+
+  protected:
+    MatrixTypeNested m_matrix;
+};
+
+template<typename MatrixType, int Mode>
+class SparseTriangularView<MatrixType,Mode>::InnerIterator : public MatrixType::InnerIterator
+{
+    typedef typename MatrixType::InnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const SparseTriangularView& view, Index outer)
+      : Base(view.nestedExpression(), outer)
+    {
+      if(SkipFirst)
+        while((*this) && this->index()<outer)
+          ++(*this);
+    }
+    inline Index row() const { return Base::row(); }
+    inline Index col() const { return Base::col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const
+    {
+      return SkipFirst ? Base::operator bool() : (Base::operator bool() && this->index() <= this->outer());
+    }
+};
+
+template<typename Derived>
+template<int Mode>
+inline const SparseTriangularView<Derived, Mode>
+SparseMatrixBase<Derived>::triangularView() const
+{
+  return derived();
+}
+
+#endif // EIGEN_SPARSE_TRIANGULARVIEW_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseUtil.h b/extern/Eigen3/Eigen/src/Sparse/SparseUtil.h
new file mode 100644
index 00000000000..db9ae98e7a0
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseUtil.h
@@ -0,0 +1,130 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEUTIL_H
+#define EIGEN_SPARSEUTIL_H
+
+#ifdef NDEBUG
+#define EIGEN_DBG_SPARSE(X)
+#else
+#define EIGEN_DBG_SPARSE(X) X
+#endif
+
+#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
+template<typename OtherDerived> \
+EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SparseMatrixBase<OtherDerived>& other) \
+{ \
+  return Base::operator Op(other.derived()); \
+} \
+EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
+{ \
+  return Base::operator Op(other); \
+}
+
+#define EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
+template<typename Other> \
+EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
+{ \
+  return Base::operator Op(scalar); \
+}
+
+#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
+EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
+EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
+
+#define _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, BaseClass) \
+  typedef BaseClass Base; \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
+  using Base::derived; \
+  using Base::const_cast_derived;
+
+#define EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) \
+  _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, Eigen::SparseMatrixBase<Derived>)
+
+const int CoherentAccessPattern     = 0x1;
+const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
+const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
+const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
+
+template<typename Derived> class SparseMatrixBase;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class DynamicSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseVector;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class MappedSparseMatrix;
+
+template<typename MatrixType, int Size>           class SparseInnerVectorSet;
+template<typename MatrixType, int Mode>           class SparseTriangularView;
+template<typename MatrixType, unsigned int UpLo>  class SparseSelfAdjointView;
+template<typename Lhs, typename Rhs>              class SparseDiagonalProduct;
+template<typename MatrixType> class SparseView;
+
+template<typename Lhs, typename Rhs>        class SparseSparseProduct;
+template<typename Lhs, typename Rhs>        class SparseTimeDenseProduct;
+template<typename Lhs, typename Rhs>        class DenseTimeSparseProduct;
+template<typename Lhs, typename Rhs, bool Transpose> class SparseDenseOuterProduct;
+
+template<typename Lhs, typename Rhs> struct SparseSparseProductReturnType;
+template<typename Lhs, typename Rhs, int InnerSize = internal::traits<Lhs>::ColsAtCompileTime> struct DenseSparseProductReturnType;
+template<typename Lhs, typename Rhs, int InnerSize = internal::traits<Lhs>::ColsAtCompileTime> struct SparseDenseProductReturnType;
+
+namespace internal {
+
+template<typename T> struct eval<T,Sparse>
+{
+    typedef typename traits<T>::Scalar _Scalar;
+    enum {
+          _Flags = traits<T>::Flags
+    };
+
+  public:
+    typedef SparseMatrix<_Scalar, _Flags> type;
+};
+
+template<typename T> struct plain_matrix_type<T,Sparse>
+{
+  typedef typename traits<T>::Scalar _Scalar;
+    enum {
+          _Flags = traits<T>::Flags
+    };
+
+  public:
+    typedef SparseMatrix<_Scalar, _Flags> type;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_SPARSEUTIL_H
diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseVector.h b/extern/Eigen3/Eigen/src/Sparse/SparseVector.h
index 5d47209f790..ce4bb51a27e 100644
--- a/extern/Eigen2/Eigen/src/Sparse/SparseVector.h
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseVector.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -29,34 +29,42 @@
   *
   * \brief a sparse vector class
   *
-  * \param _Scalar the scalar type, i.e. the type of the coefficients
+  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
   *
   * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
   *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
   */
-template<typename _Scalar, int _Flags>
-struct ei_traits<SparseVector<_Scalar, _Flags> >
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<SparseVector<_Scalar, _Options, _Index> >
 {
   typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
   enum {
-    IsColVector = _Flags & RowMajorBit ? 0 : 1,
+    IsColVector = _Options & RowMajorBit ? 0 : 1,
 
     RowsAtCompileTime = IsColVector ? Dynamic : 1,
     ColsAtCompileTime = IsColVector ? 1 : Dynamic,
     MaxRowsAtCompileTime = RowsAtCompileTime,
     MaxColsAtCompileTime = ColsAtCompileTime,
-    Flags = SparseBit | _Flags,
+    Flags = _Options | NestByRefBit | LvalueBit,
     CoeffReadCost = NumTraits<Scalar>::ReadCost,
     SupportedAccessPatterns = InnerRandomAccessPattern
   };
 };
+}
 
-template<typename _Scalar, int _Flags>
+template<typename _Scalar, int _Options, typename _Index>
 class SparseVector
-  : public SparseMatrixBase<SparseVector<_Scalar, _Flags> >
+  : public SparseMatrixBase<SparseVector<_Scalar, _Options, _Index> >
 {
   public:
-    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseVector)
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseVector)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, +=)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, -=)
 //     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, =)
@@ -65,48 +73,52 @@ class SparseVector
   public:
 
     typedef SparseMatrixBase<SparseVector> SparseBase;
-    enum { IsColVector = ei_traits<SparseVector>::IsColVector };
-
-    CompressedStorage<Scalar> m_data;
-    int m_size;
+    enum { IsColVector = internal::traits<SparseVector>::IsColVector };
     
-    CompressedStorage<Scalar>& _data() { return m_data; }
-    CompressedStorage<Scalar>& _data() const { return m_data; }
+    enum {
+      Options = _Options
+    };
+
+    CompressedStorage<Scalar,Index> m_data;
+    Index m_size;
+
+    CompressedStorage<Scalar,Index>& _data() { return m_data; }
+    CompressedStorage<Scalar,Index>& _data() const { return m_data; }
 
   public:
 
-    EIGEN_STRONG_INLINE int rows() const { return IsColVector ? m_size : 1; }
-    EIGEN_STRONG_INLINE int cols() const { return IsColVector ? 1 : m_size; }
-    EIGEN_STRONG_INLINE int innerSize() const { return m_size; }
-    EIGEN_STRONG_INLINE int outerSize() const { return 1; }
-    EIGEN_STRONG_INLINE int innerNonZeros(int j) const { ei_assert(j==0); return m_size; }
+    EIGEN_STRONG_INLINE Index rows() const { return IsColVector ? m_size : 1; }
+    EIGEN_STRONG_INLINE Index cols() const { return IsColVector ? 1 : m_size; }
+    EIGEN_STRONG_INLINE Index innerSize() const { return m_size; }
+    EIGEN_STRONG_INLINE Index outerSize() const { return 1; }
+    EIGEN_STRONG_INLINE Index innerNonZeros(Index j) const { eigen_assert(j==0); return m_size; }
 
     EIGEN_STRONG_INLINE const Scalar* _valuePtr() const { return &m_data.value(0); }
     EIGEN_STRONG_INLINE Scalar* _valuePtr() { return &m_data.value(0); }
 
-    EIGEN_STRONG_INLINE const int* _innerIndexPtr() const { return &m_data.index(0); }
-    EIGEN_STRONG_INLINE int* _innerIndexPtr() { return &m_data.index(0); }
+    EIGEN_STRONG_INLINE const Index* _innerIndexPtr() const { return &m_data.index(0); }
+    EIGEN_STRONG_INLINE Index* _innerIndexPtr() { return &m_data.index(0); }
 
-    inline Scalar coeff(int row, int col) const
+    inline Scalar coeff(Index row, Index col) const
     {
-      ei_assert((IsColVector ? col : row)==0);
+      eigen_assert((IsColVector ? col : row)==0);
       return coeff(IsColVector ? row : col);
     }
-    inline Scalar coeff(int i) const { return m_data.at(i); }
+    inline Scalar coeff(Index i) const { return m_data.at(i); }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      ei_assert((IsColVector ? col : row)==0);
+      eigen_assert((IsColVector ? col : row)==0);
       return coeff(IsColVector ? row : col);
     }
 
     /** \returns a reference to the coefficient value at given index \a i
       * This operation involes a log(rho*size) binary search. If the coefficient does not
       * exist yet, then a sorted insertion into a sequential buffer is performed.
-      * 
+      *
       * This insertion might be very costly if the number of nonzeros above \a i is large.
       */
-    inline Scalar& coeffRef(int i)
+    inline Scalar& coeffRef(Index i)
     {
       return m_data.atWithInsertion(i);
     }
@@ -118,83 +130,80 @@ class SparseVector
     inline void setZero() { m_data.clear(); }
 
     /** \returns the number of non zero coefficients */
-    inline int nonZeros() const  { return m_data.size(); }
+    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
 
-    /**
-      */
-    inline void reserve(int reserveSize) { m_data.reserve(reserveSize); }
-    
-    inline void startFill(int reserve)
+    inline void startVec(Index outer)
     {
-      setZero();
-      m_data.reserve(reserve);
+      eigen_assert(outer==0);
     }
 
-    /**
-      */
-    inline Scalar& fill(int r, int c)
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
     {
-      ei_assert(r==0 || c==0);
-      return fill(IsColVector ? r : c);
+      eigen_assert(outer==0);
+      return insertBack(inner);
     }
-    
-    inline Scalar& fill(int i)
+    inline Scalar& insertBack(Index i)
     {
       m_data.append(0, i);
       return m_data.value(m_data.size()-1);
     }
-    
-    inline Scalar& fillrand(int r, int c)
+
+    inline Scalar& insert(Index row, Index col)
     {
-      ei_assert(r==0 || c==0);
-      return fillrand(IsColVector ? r : c);
+      Index inner = IsColVector ? row : col;
+      Index outer = IsColVector ? col : row;
+      eigen_assert(outer==0);
+      return insert(inner);
     }
-
-    /** Like fill() but with random coordinates.
-      */
-    inline Scalar& fillrand(int i)
+    Scalar& insert(Index i)
     {
-      int startId = 0;
-      int id = m_data.size() - 1;
-      m_data.resize(id+2,1);
+      Index startId = 0;
+      Index p = m_data.size() - 1;
+      // TODO smart realloc
+      m_data.resize(p+2,1);
 
-      while ( (id >= startId) && (m_data.index(id) > i) )
+      while ( (p >= startId) && (m_data.index(p) > i) )
       {
-        m_data.index(id+1) = m_data.index(id);
-        m_data.value(id+1) = m_data.value(id);
-        --id;
+        m_data.index(p+1) = m_data.index(p);
+        m_data.value(p+1) = m_data.value(p);
+        --p;
       }
-      m_data.index(id+1) = i;
-      m_data.value(id+1) = 0;
-      return m_data.value(id+1);
+      m_data.index(p+1) = i;
+      m_data.value(p+1) = 0;
+      return m_data.value(p+1);
     }
-    
-    inline void endFill() {}
-    
-    void prune(Scalar reference, RealScalar epsilon = precision<RealScalar>())
+
+    /**
+      */
+    inline void reserve(Index reserveSize) { m_data.reserve(reserveSize); }
+
+
+    inline void finalize() {}
+
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       m_data.prune(reference,epsilon);
     }
-    
-    void resize(int rows, int cols)
+
+    void resize(Index rows, Index cols)
     {
-      ei_assert(rows==1 || cols==1);
+      eigen_assert(rows==1 || cols==1);
       resize(IsColVector ? rows : cols);
     }
 
-    void resize(int newSize)
+    void resize(Index newSize)
     {
       m_size = newSize;
       m_data.clear();
     }
 
-    void resizeNonZeros(int size) { m_data.resize(size); }
+    void resizeNonZeros(Index size) { m_data.resize(size); }
 
     inline SparseVector() : m_size(0) { resize(0); }
 
-    inline SparseVector(int size) : m_size(0) { resize(size); }
-    
-    inline SparseVector(int rows, int cols) : m_size(0) { resize(rows,cols); }
+    inline SparseVector(Index size) : m_size(0) { resize(size); }
+
+    inline SparseVector(Index rows, Index cols) : m_size(0) { resize(rows,cols); }
 
     template<typename OtherDerived>
     inline SparseVector(const MatrixBase<OtherDerived>& other)
@@ -202,7 +211,7 @@ class SparseVector
     {
       *this = other.derived();
     }
-    
+
     template<typename OtherDerived>
     inline SparseVector(const SparseMatrixBase<OtherDerived>& other)
       : m_size(0)
@@ -239,9 +248,20 @@ class SparseVector
     template<typename OtherDerived>
     inline SparseVector& operator=(const SparseMatrixBase<OtherDerived>& other)
     {
-      return Base::operator=(other);
+      if (int(RowsAtCompileTime)!=int(OtherDerived::RowsAtCompileTime))
+        return Base::operator=(other.transpose());
+      else
+        return Base::operator=(other);
     }
-    
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Lhs, typename Rhs>
+    inline SparseVector& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+    {
+      return Base::operator=(product);
+    }
+    #endif
+
 //       const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
 //       if (needToTranspose)
 //       {
@@ -249,9 +269,9 @@ class SparseVector
 //         //  1 - compute the number of coeffs per dest inner vector
 //         //  2 - do the actual copy/eval
 //         // Since each coeff of the rhs has to be evaluated twice, let's evauluate it if needed
-//         typedef typename ei_nested<OtherDerived,2>::type OtherCopy;
+//         typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
 //         OtherCopy otherCopy(other.derived());
-//         typedef typename ei_cleantype<OtherCopy>::type _OtherCopy;
+//         typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
 //
 //         resize(other.rows(), other.cols());
 //         Eigen::Map<VectorXi>(m_outerIndex,outerSize()).setZero();
@@ -294,7 +314,7 @@ class SparseVector
 
     friend std::ostream & operator << (std::ostream & s, const SparseVector& m)
     {
-      for (unsigned int i=0; i<m.nonZeros(); ++i)
+      for (Index i=0; i<m.nonZeros(); ++i)
         s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
       s << std::endl;
       return s;
@@ -310,7 +330,7 @@ class SparseVector
 //       {
 //         if (m_data.index(i)==other.m_data.index(j))
 //         {
-//           res += m_data.value(i) * ei_conj(other.m_data.value(j));
+//           res += m_data.value(i) * internal::conj(other.m_data.value(j));
 //           ++i; ++j;
 //         }
 //         else if (m_data.index(i)<other.m_data.index(j))
@@ -324,24 +344,70 @@ class SparseVector
 
     /** Destructor */
     inline ~SparseVector() {}
+
+    /** Overloaded for performance */
+    Scalar sum() const;
+
+  public:
+
+    /** \deprecated use setZero() and reserve() */
+    EIGEN_DEPRECATED void startFill(Index reserve)
+    {
+      setZero();
+      m_data.reserve(reserve);
+    }
+
+    /** \deprecated use insertBack(Index,Index) */
+    EIGEN_DEPRECATED Scalar& fill(Index r, Index c)
+    {
+      eigen_assert(r==0 || c==0);
+      return fill(IsColVector ? r : c);
+    }
+
+    /** \deprecated use insertBack(Index) */
+    EIGEN_DEPRECATED Scalar& fill(Index i)
+    {
+      m_data.append(0, i);
+      return m_data.value(m_data.size()-1);
+    }
+
+    /** \deprecated use insert(Index,Index) */
+    EIGEN_DEPRECATED Scalar& fillrand(Index r, Index c)
+    {
+      eigen_assert(r==0 || c==0);
+      return fillrand(IsColVector ? r : c);
+    }
+
+    /** \deprecated use insert(Index) */
+    EIGEN_DEPRECATED Scalar& fillrand(Index i)
+    {
+      return insert(i);
+    }
+
+    /** \deprecated use finalize() */
+    EIGEN_DEPRECATED void endFill() {}
+    
+#   ifdef EIGEN_SPARSEVECTOR_PLUGIN
+#     include EIGEN_SPARSEVECTOR_PLUGIN
+#   endif
 };
 
-template<typename Scalar, int _Flags>
-class SparseVector<Scalar,_Flags>::InnerIterator
+template<typename Scalar, int _Options, typename _Index>
+class SparseVector<Scalar,_Options,_Index>::InnerIterator
 {
   public:
-    InnerIterator(const SparseVector& vec, int outer=0)
-      : m_data(vec.m_data), m_id(0), m_end(m_data.size())
+    InnerIterator(const SparseVector& vec, Index outer=0)
+      : m_data(vec.m_data), m_id(0), m_end(static_cast<Index>(m_data.size()))
     {
-      ei_assert(outer==0);
+      eigen_assert(outer==0);
     }
-    
-    InnerIterator(const CompressedStorage<Scalar>& data)
-      : m_data(data), m_id(0), m_end(m_data.size())
+
+    InnerIterator(const CompressedStorage<Scalar,Index>& data)
+      : m_data(data), m_id(0), m_end(static_cast<Index>(m_data.size()))
     {}
 
     template<unsigned int Added, unsigned int Removed>
-    InnerIterator(const Flagged<SparseVector,Added,Removed>& vec, int outer)
+    InnerIterator(const Flagged<SparseVector,Added,Removed>& vec, Index )
       : m_data(vec._expression().m_data), m_id(0), m_end(m_data.size())
     {}
 
@@ -350,19 +416,16 @@ class SparseVector<Scalar,_Flags>::InnerIterator
     inline Scalar value() const { return m_data.value(m_id); }
     inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id)); }
 
-    inline int index() const { return m_data.index(m_id); }
-    inline int row() const { return IsColVector ? index() : 0; }
-    inline int col() const { return IsColVector ? 0 : index(); }
+    inline Index index() const { return m_data.index(m_id); }
+    inline Index row() const { return IsColVector ? index() : 0; }
+    inline Index col() const { return IsColVector ? 0 : index(); }
 
     inline operator bool() const { return (m_id < m_end); }
 
   protected:
-    const CompressedStorage<Scalar>& m_data;
-    int m_id;
-    const int m_end;
-
-  private:
-    InnerIterator& operator=(const InnerIterator&);
+    const CompressedStorage<Scalar,Index>& m_data;
+    Index m_id;
+    const Index m_end;
 };
 
 #endif // EIGEN_SPARSEVECTOR_H
diff --git a/extern/Eigen3/Eigen/src/Sparse/SparseView.h b/extern/Eigen3/Eigen/src/Sparse/SparseView.h
new file mode 100644
index 00000000000..24306561098
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/SparseView.h
@@ -0,0 +1,109 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Daniel Lowengrub <lowdanie@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEVIEW_H
+#define EIGEN_SPARSEVIEW_H
+
+namespace internal {
+
+template<typename MatrixType>
+struct traits<SparseView<MatrixType> > : traits<MatrixType>
+{
+  typedef int Index;
+  typedef Sparse StorageKind;
+  enum {
+    Flags = int(traits<MatrixType>::Flags) & (RowMajorBit)
+  };
+};
+
+} // end namespace internal
+
+template<typename MatrixType>
+class SparseView : public SparseMatrixBase<SparseView<MatrixType> >
+{
+  typedef typename MatrixType::Nested MatrixTypeNested;
+  typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+public:
+  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView)
+
+  SparseView(const MatrixType& mat, const Scalar& m_reference = Scalar(0),
+             typename NumTraits<Scalar>::Real m_epsilon = NumTraits<Scalar>::dummy_precision()) : 
+    m_matrix(mat), m_reference(m_reference), m_epsilon(m_epsilon) {}
+
+  class InnerIterator;
+
+  inline Index rows() const { return m_matrix.rows(); }
+  inline Index cols() const { return m_matrix.cols(); }
+
+  inline Index innerSize() const { return m_matrix.innerSize(); }
+  inline Index outerSize() const { return m_matrix.outerSize(); }
+
+protected:
+  const MatrixTypeNested m_matrix;
+  Scalar m_reference;
+  typename NumTraits<Scalar>::Real m_epsilon;
+};
+
+template<typename MatrixType>
+class SparseView<MatrixType>::InnerIterator : public _MatrixTypeNested::InnerIterator
+{
+public:
+  typedef typename _MatrixTypeNested::InnerIterator IterBase;
+  InnerIterator(const SparseView& view, Index outer) :
+  IterBase(view.m_matrix, outer), m_view(view)
+  {
+    incrementToNonZero();
+  }
+
+  EIGEN_STRONG_INLINE InnerIterator& operator++()
+  {
+    IterBase::operator++();
+    incrementToNonZero();
+    return *this;
+  }
+
+  using IterBase::value;
+
+protected:
+  const SparseView& m_view;
+
+private:
+  void incrementToNonZero()
+  {
+    while(internal::isMuchSmallerThan(value(), m_view.m_reference, m_view.m_epsilon) && (bool(*this)))
+      {
+        IterBase::operator++();
+      }
+  }
+};
+
+template<typename Derived>
+const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& m_reference,
+                                                          typename NumTraits<Scalar>::Real m_epsilon) const
+{
+  return SparseView<Derived>(derived(), m_reference, m_epsilon);
+}
+
+#endif
diff --git a/extern/Eigen3/Eigen/src/Sparse/TriangularSolver.h b/extern/Eigen3/Eigen/src/Sparse/TriangularSolver.h
new file mode 100644
index 00000000000..73468e0446c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/Sparse/TriangularSolver.h
@@ -0,0 +1,339 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSETRIANGULARSOLVER_H
+#define EIGEN_SPARSETRIANGULARSOLVER_H
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Mode,
+  int UpLo = (Mode & Lower)
+           ? Lower
+           : (Mode & Upper)
+           ? Upper
+           : -1,
+  int StorageOrder = int(traits<Lhs>::Flags) & RowMajorBit>
+struct sparse_solve_triangular_selector;
+
+// forward substitution, row-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,RowMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=0; i<lhs.rows(); ++i)
+      {
+        Scalar tmp = other.coeff(i,col);
+        Scalar lastVal = 0;
+        int lastIndex = 0;
+        for(typename Lhs::InnerIterator it(lhs, i); it; ++it)
+        {
+          lastVal = it.value();
+          lastIndex = it.index();
+          if(lastIndex==i)
+            break;
+          tmp -= lastVal * other.coeff(lastIndex,col);
+        }
+        if (Mode & UnitDiag)
+          other.coeffRef(i,col) = tmp;
+        else
+        {
+          eigen_assert(lastIndex==i);
+          other.coeffRef(i,col) = tmp/lastVal;
+        }
+      }
+    }
+  }
+};
+
+// backward substitution, row-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=lhs.rows()-1 ; i>=0 ; --i)
+      {
+        Scalar tmp = other.coeff(i,col);
+        typename Lhs::InnerIterator it(lhs, i);
+        if (it && it.index() == i)
+          ++it;
+        for(; it; ++it)
+        {
+          tmp -= it.value() * other.coeff(it.index(),col);
+        }
+
+        if (Mode & UnitDiag)
+          other.coeffRef(i,col) = tmp;
+        else
+        {
+          typename Lhs::InnerIterator it(lhs, i);
+          eigen_assert(it && it.index() == i);
+          other.coeffRef(i,col) = tmp/it.value();
+        }
+      }
+    }
+  }
+};
+
+// forward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=0; i<lhs.cols(); ++i)
+      {
+        Scalar& tmp = other.coeffRef(i,col);
+        if (tmp!=Scalar(0)) // optimization when other is actually sparse
+        {
+          typename Lhs::InnerIterator it(lhs, i);
+          if(!(Mode & UnitDiag))
+          {
+            eigen_assert(it.index()==i);
+            tmp /= it.value();
+          }
+          if (it && it.index()==i)
+            ++it;
+          for(; it; ++it)
+            other.coeffRef(it.index(), col) -= tmp * it.value();
+        }
+      }
+    }
+  }
+};
+
+// backward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=lhs.cols()-1; i>=0; --i)
+      {
+        Scalar& tmp = other.coeffRef(i,col);
+        if (tmp!=Scalar(0)) // optimization when other is actually sparse
+        {
+          if(!(Mode & UnitDiag))
+          {
+            // FIXME lhs.coeff(i,i) might not be always efficient while it must simply be the
+            // last element of the column !
+            other.coeffRef(i,col) /= lhs.innerVector(i).lastCoeff();
+          }
+          typename Lhs::InnerIterator it(lhs, i);
+          for(; it && it.index()<i; ++it)
+            other.coeffRef(it.index(), col) -= tmp * it.value();
+        }
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDerived>& other) const
+{
+  eigen_assert(m_matrix.cols() == m_matrix.rows());
+  eigen_assert(m_matrix.cols() == other.rows());
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
+
+  typedef typename internal::conditional<copy,
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+  OtherCopy otherCopy(other.derived());
+
+  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(m_matrix, otherCopy);
+
+  if (copy)
+    other = otherCopy;
+}
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+typename internal::plain_matrix_type_column_major<OtherDerived>::type
+SparseTriangularView<ExpressionType,Mode>::solve(const MatrixBase<OtherDerived>& other) const
+{
+  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
+  solveInPlace(res);
+  return res;
+}
+
+// pure sparse path
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Mode,
+  int UpLo = (Mode & Lower)
+           ? Lower
+           : (Mode & Upper)
+           ? Upper
+           : -1,
+  int StorageOrder = int(Lhs::Flags) & (RowMajorBit)>
+struct sparse_solve_triangular_sparse_selector;
+
+// forward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode, int UpLo>
+struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    const bool IsLower = (UpLo==Lower);
+    AmbiVector<Scalar,Index> tempVector(other.rows()*2);
+    tempVector.setBounds(0,other.rows());
+
+    Rhs res(other.rows(), other.cols());
+    res.reserve(other.nonZeros());
+
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      // FIXME estimate number of non zeros
+      tempVector.init(.99/*float(other.col(col).nonZeros())/float(other.rows())*/);
+      tempVector.setZero();
+      tempVector.restart();
+      for (typename Rhs::InnerIterator rhsIt(other, col); rhsIt; ++rhsIt)
+      {
+        tempVector.coeffRef(rhsIt.index()) = rhsIt.value();
+      }
+
+      for(int i=IsLower?0:lhs.cols()-1;
+          IsLower?i<lhs.cols():i>=0;
+          i+=IsLower?1:-1)
+      {
+        tempVector.restart();
+        Scalar& ci = tempVector.coeffRef(i);
+        if (ci!=Scalar(0))
+        {
+          // find
+          typename Lhs::InnerIterator it(lhs, i);
+          if(!(Mode & UnitDiag))
+          {
+            if (IsLower)
+            {
+              eigen_assert(it.index()==i);
+              ci /= it.value();
+            }
+            else
+              ci /= lhs.coeff(i,i);
+          }
+          tempVector.restart();
+          if (IsLower)
+          {
+            if (it.index()==i)
+              ++it;
+            for(; it; ++it)
+              tempVector.coeffRef(it.index()) -= ci * it.value();
+          }
+          else
+          {
+            for(; it && it.index()<i; ++it)
+              tempVector.coeffRef(it.index()) -= ci * it.value();
+          }
+        }
+      }
+
+
+      int count = 0;
+      // FIXME compute a reference value to filter zeros
+      for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector/*,1e-12*/); it; ++it)
+      {
+        ++ count;
+//         std::cerr << "fill " << it.index() << ", " << col << "\n";
+//         std::cout << it.value() << "  ";
+        // FIXME use insertBack
+        res.insert(it.index(), col) = it.value();
+      }
+//       std::cout << "tempVector.nonZeros() == " << int(count) << " / " << (other.rows()) << "\n";
+    }
+    res.finalize();
+    other = res.markAsRValue();
+  }
+};
+
+} // end namespace internal
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
+{
+  eigen_assert(m_matrix.cols() == m_matrix.rows());
+  eigen_assert(m_matrix.cols() == other.rows());
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+//   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
+
+//   typedef typename internal::conditional<copy,
+//     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+//   OtherCopy otherCopy(other.derived());
+
+  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(m_matrix, other.derived());
+
+//   if (copy)
+//     other = otherCopy;
+}
+
+#ifdef EIGEN2_SUPPORT
+
+// deprecated stuff:
+
+/** \deprecated */
+template<typename Derived>
+template<typename OtherDerived>
+void SparseMatrixBase<Derived>::solveTriangularInPlace(MatrixBase<OtherDerived>& other) const
+{
+  this->template triangular<Flags&(Upper|Lower)>().solveInPlace(other);
+}
+
+/** \deprecated */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::plain_matrix_type_column_major<OtherDerived>::type
+SparseMatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
+{
+  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
+  derived().solveTriangularInPlace(res);
+  return res;
+}
+#endif // EIGEN2_SUPPORT
+
+#endif // EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/extern/Eigen3/Eigen/src/StlSupport/StdDeque.h b/extern/Eigen3/Eigen/src/StlSupport/StdDeque.h
new file mode 100644
index 00000000000..6f12c106dbc
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/StlSupport/StdDeque.h
@@ -0,0 +1,149 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDDEQUE_H
+#define EIGEN_STDDEQUE_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+// Define the explicit instantiation (e.g. necessary for the Intel compiler)
+#if defined(__INTEL_COMPILER) || defined(__GNUC__)
+  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...) template class std::deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
+#else
+  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...)
+#endif
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::deque such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
+EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(__VA_ARGS__) \
+namespace std \
+{ \
+  template<typename _Ay> \
+  class deque<__VA_ARGS__, _Ay>  \
+    : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef typename deque_base::allocator_type allocator_type; \
+    typedef typename deque_base::size_type size_type;  \
+    typedef typename deque_base::iterator iterator;  \
+    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
+    template<typename InputIterator> \
+    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
+    deque(const deque& c) : deque_base(c) {}  \
+    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+    deque(iterator start, iterator end) : deque_base(start, end) {}  \
+    deque& operator=(const deque& x) {  \
+      deque_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
+}
+
+// check whether we really need the std::deque specialization
+#if !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
+
+namespace std {
+
+#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename deque_base::allocator_type allocator_type; \
+    typedef typename deque_base::size_type size_type;  \
+    typedef typename deque_base::iterator iterator;  \
+    typedef typename deque_base::const_iterator const_iterator;  \
+    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
+    template<typename InputIterator> \
+    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+    : deque_base(first, last, a) {} \
+    deque(const deque& c) : deque_base(c) {}  \
+    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+    deque(iterator start, iterator end) : deque_base(start, end) {}  \
+    deque& operator=(const deque& x) {  \
+      deque_base::operator=(x);  \
+      return *this;  \
+    }
+
+  template<typename T>
+  class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                   Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+{
+  typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
+  EIGEN_STD_DEQUE_SPECIALIZATION_BODY
+
+  void resize(size_type new_size)
+  { resize(new_size, T()); }
+
+#if defined(_DEQUE_)
+  // workaround MSVC std::deque implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (deque_base::size() < new_size)
+      deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
+    else if (new_size < deque_base::size())
+      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+  }
+  void push_back(const value_type& x)
+  { deque_base::push_back(x); } 
+  void push_front(const value_type& x)
+  { deque_base::push_front(x); }
+  using deque_base::insert;  
+  iterator insert(const_iterator position, const value_type& x)
+  { return deque_base::insert(position,x); }
+  void insert(const_iterator position, size_type new_size, const value_type& x)
+  { deque_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
+  // workaround GCC std::deque implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < deque_base::size())
+      deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
+    else
+      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+  }
+#else
+  // either GCC 4.1 or non-GCC
+  // default implementation which should always work.
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < deque_base::size())
+      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+    else if (new_size > deque_base::size())
+      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+  }
+#endif
+  };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDDEQUE_H
diff --git a/extern/Eigen3/Eigen/src/StlSupport/StdList.h b/extern/Eigen3/Eigen/src/StlSupport/StdList.h
new file mode 100644
index 00000000000..d329a0b2dc5
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/StlSupport/StdList.h
@@ -0,0 +1,129 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDLIST_H
+#define EIGEN_STDLIST_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+// Define the explicit instantiation (e.g. necessary for the Intel compiler)
+#if defined(__INTEL_COMPILER) || defined(__GNUC__)
+  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...) template class std::list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
+#else
+  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...)
+#endif
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::list such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
+EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(__VA_ARGS__) \
+namespace std \
+{ \
+  template<typename _Ay> \
+  class list<__VA_ARGS__, _Ay>  \
+    : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef typename list_base::allocator_type allocator_type; \
+    typedef typename list_base::size_type size_type;  \
+    typedef typename list_base::iterator iterator;  \
+    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
+    template<typename InputIterator> \
+    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
+    list(const list& c) : list_base(c) {}  \
+    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+    list(iterator start, iterator end) : list_base(start, end) {}  \
+    list& operator=(const list& x) {  \
+      list_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
+}
+
+// check whether we really need the std::vector specialization
+#if !(defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
+
+namespace std
+{
+
+#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename list_base::allocator_type allocator_type; \
+    typedef typename list_base::size_type size_type;  \
+    typedef typename list_base::iterator iterator;  \
+    typedef typename list_base::const_iterator const_iterator;  \
+    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
+    template<typename InputIterator> \
+    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+    : list_base(first, last, a) {} \
+    list(const list& c) : list_base(c) {}  \
+    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+    list(iterator start, iterator end) : list_base(start, end) {}  \
+    list& operator=(const list& x) {  \
+    list_base::operator=(x);  \
+    return *this; \
+  }
+
+  template<typename T>
+  class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                  Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+  {
+    typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
+    EIGEN_STD_LIST_SPECIALIZATION_BODY
+
+    void resize(size_type new_size)
+    { resize(new_size, T()); }
+
+    void resize(size_type new_size, const value_type& x)
+    {
+      if (list_base::size() < new_size)
+        list_base::insert(list_base::end(), new_size - list_base::size(), x);
+      else
+        while (new_size < list_base::size()) list_base::pop_back();
+    }
+
+#if defined(_LIST_)
+    // workaround MSVC std::list implementation
+    void push_back(const value_type& x)
+    { list_base::push_back(x); } 
+    using list_base::insert;  
+    iterator insert(const_iterator position, const value_type& x)
+    { return list_base::insert(position,x); }
+    void insert(const_iterator position, size_type new_size, const value_type& x)
+    { list_base::insert(position, new_size, x); }
+#endif
+  };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDLIST_H
diff --git a/extern/Eigen2/Eigen/NewStdVector b/extern/Eigen3/Eigen/src/StlSupport/StdVector.h
index f37de5ff673..27d6ab539f9 100644
--- a/extern/Eigen2/Eigen/NewStdVector
+++ b/extern/Eigen3/Eigen/src/StlSupport/StdVector.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
 //
 // Eigen is free software; you can redistribute it and/or
@@ -23,68 +23,40 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_STDVECTOR_MODULE_H
-#define EIGEN_STDVECTOR_MODULE_H
-
-#include "Core"
-#include <vector>
-
-namespace Eigen {
-
-// This one is needed to prevent reimplementing the whole std::vector.
-template <class T>
-class aligned_allocator_indirection : public aligned_allocator<T>
-{
-public:
-  typedef size_t    size_type;
-  typedef ptrdiff_t difference_type;
-  typedef T*        pointer;
-  typedef const T*  const_pointer;
-  typedef T&        reference;
-  typedef const T&  const_reference;
-  typedef T         value_type;
-
-  template<class U>
-  struct rebind
-  {
-    typedef aligned_allocator_indirection<U> other;
-  };
-
-  aligned_allocator_indirection() throw() {}
-  aligned_allocator_indirection(const aligned_allocator_indirection& ) throw() : aligned_allocator<T>() {}
-  aligned_allocator_indirection(const aligned_allocator<T>& ) throw() {}
-  template<class U>
-  aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) throw() {}
-  template<class U>
-  aligned_allocator_indirection(const aligned_allocator<U>& ) throw() {}
-  ~aligned_allocator_indirection() throw() {}
-};
-
-#ifdef _MSC_VER
-
-  // sometimes, MSVC detects, at compile time, that the argument x
-  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
-  // even if this function is never called. Whence this little wrapper.
-  #define EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) Eigen::ei_workaround_msvc_std_vector<T>
-  template<typename T> struct ei_workaround_msvc_std_vector : public T
-  {
-    inline ei_workaround_msvc_std_vector() : T() {}
-    inline ei_workaround_msvc_std_vector(const T& other) : T(other) {}
-    inline operator T& () { return *static_cast<T*>(this); }
-    inline operator const T& () const { return *static_cast<const T*>(this); }
-    template<typename OtherT>
-    inline T& operator=(const OtherT& other)
-    { T::operator=(other); return *this; }
-    inline ei_workaround_msvc_std_vector& operator=(const ei_workaround_msvc_std_vector& other)
-    { T::operator=(other); return *this; }
-  };
-
-#else
-
-  #define EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) T
-
-#endif
-
+#ifndef EIGEN_STDVECTOR_H
+#define EIGEN_STDVECTOR_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::vector such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
+namespace std \
+{ \
+  template<> \
+  class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> >  \
+    : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef vector_base::allocator_type allocator_type; \
+    typedef vector_base::size_type size_type;  \
+    typedef vector_base::iterator iterator;  \
+    explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {}  \
+    template<typename InputIterator> \
+    vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
+    vector(const vector& c) : vector_base(c) {}  \
+    explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+    vector(iterator start, iterator end) : vector_base(start, end) {}  \
+    vector& operator=(const vector& x) {  \
+      vector_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
 }
 
 namespace std {
@@ -108,13 +80,13 @@ namespace std {
       return *this;  \
     }
 
-template<typename T>
-class vector<T,Eigen::aligned_allocator<T> >
-  : public vector<EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
-                  Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> >
+  template<typename T>
+  class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                    Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
 {
-  typedef vector<EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
-                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> > vector_base;
+  typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
   EIGEN_STD_VECTOR_SPECIALIZATION_BODY
 
   void resize(size_type new_size)
@@ -136,6 +108,13 @@ class vector<T,Eigen::aligned_allocator<T> >
   { return vector_base::insert(position,x); }
   void insert(const_iterator position, size_type new_size, const value_type& x)
   { vector_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
+  /* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
+   * However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
+  void resize(size_type new_size, const value_type& x)
+  {
+    vector_base::resize(new_size,x);
+  }
 #elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
   // workaround GCC std::vector implementation
   void resize(size_type new_size, const value_type& x)
@@ -145,10 +124,6 @@ class vector<T,Eigen::aligned_allocator<T> >
     else
       vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
   }
-#elif defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))
-  // Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&),
-  // no no need to workaround !
-  using vector_base::resize;
 #else
   // either GCC 4.1 or non-GCC
   // default implementation which should always work.
@@ -160,9 +135,7 @@ class vector<T,Eigen::aligned_allocator<T> >
       vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
   }
 #endif
-
-};
-
+  };
 }
 
-#endif // EIGEN_STDVECTOR_MODULE_H
+#endif // EIGEN_STDVECTOR_H
diff --git a/extern/Eigen3/Eigen/src/StlSupport/details.h b/extern/Eigen3/Eigen/src/StlSupport/details.h
new file mode 100644
index 00000000000..397c8ef8581
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/StlSupport/details.h
@@ -0,0 +1,99 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STL_DETAILS_H
+#define EIGEN_STL_DETAILS_H
+
+#ifndef EIGEN_ALIGNED_ALLOCATOR
+  #define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
+#endif
+
+namespace Eigen {
+
+  // This one is needed to prevent reimplementing the whole std::vector.
+  template <class T>
+  class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
+  {
+  public:
+    typedef size_t    size_type;
+    typedef ptrdiff_t difference_type;
+    typedef T*        pointer;
+    typedef const T*  const_pointer;
+    typedef T&        reference;
+    typedef const T&  const_reference;
+    typedef T         value_type;
+
+    template<class U>
+    struct rebind
+    {
+      typedef aligned_allocator_indirection<U> other;
+    };
+
+    aligned_allocator_indirection() {}
+    aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
+    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
+    template<class U>
+    aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
+    template<class U>
+    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
+    ~aligned_allocator_indirection() {}
+  };
+
+#ifdef _MSC_VER
+
+  // sometimes, MSVC detects, at compile time, that the argument x
+  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
+  // even if this function is never called. Whence this little wrapper.
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
+  typename Eigen::internal::conditional< \
+    Eigen::internal::is_arithmetic<T>::value, \
+    T, \
+    Eigen::internal::workaround_msvc_stl_support<T> \
+  >::type
+
+  namespace internal {
+  template<typename T> struct workaround_msvc_stl_support : public T
+  {
+    inline workaround_msvc_stl_support() : T() {}
+    inline workaround_msvc_stl_support(const T& other) : T(other) {}
+    inline operator T& () { return *static_cast<T*>(this); }
+    inline operator const T& () const { return *static_cast<const T*>(this); }
+    template<typename OtherT>
+    inline T& operator=(const OtherT& other)
+    { T::operator=(other); return *this; }
+    inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
+    { T::operator=(other); return *this; }
+  };
+  }
+
+#else
+
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
+
+#endif
+
+}
+
+#endif // EIGEN_STL_DETAILS_H
diff --git a/extern/Eigen3/Eigen/src/misc/Image.h b/extern/Eigen3/Eigen/src/misc/Image.h
new file mode 100644
index 00000000000..19b3e08cbfd
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/misc/Image.h
@@ -0,0 +1,95 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_IMAGE_H
+#define EIGEN_MISC_IMAGE_H
+
+namespace internal {
+
+/** \class image_retval_base
+  *
+  */
+template<typename DecompositionType>
+struct traits<image_retval_base<DecompositionType> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<
+    typename MatrixType::Scalar,
+    MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose
+                                   // dimension is the number of rows of the original matrix
+    Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
+    MatrixType::Options,
+    MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
+    MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
+  > ReturnType;
+};
+
+template<typename _DecompositionType> struct image_retval_base
+ : public ReturnByValue<image_retval_base<_DecompositionType> >
+{
+  typedef _DecompositionType DecompositionType;
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef ReturnByValue<image_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
+    : m_dec(dec), m_rank(dec.rank()),
+      m_cols(m_rank == 0 ? 1 : m_rank),
+      m_originalMatrix(originalMatrix)
+  {}
+
+  inline Index rows() const { return m_dec.rows(); }
+  inline Index cols() const { return m_cols; }
+  inline Index rank() const { return m_rank; }
+  inline const DecompositionType& dec() const { return m_dec; }
+  inline const MatrixType& originalMatrix() const { return m_originalMatrix; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const image_retval<DecompositionType>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    Index m_rank, m_cols;
+    const MatrixType& m_originalMatrix;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_IMAGE_HELPERS(DecompositionType) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
+  using Base::dec; \
+  using Base::originalMatrix; \
+  using Base::rank; \
+  using Base::rows; \
+  using Base::cols; \
+  image_retval(const DecompositionType& dec, const MatrixType& originalMatrix) \
+    : Base(dec, originalMatrix) {}
+
+#endif // EIGEN_MISC_IMAGE_H
diff --git a/extern/Eigen3/Eigen/src/misc/Kernel.h b/extern/Eigen3/Eigen/src/misc/Kernel.h
new file mode 100644
index 00000000000..0115970e8eb
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/misc/Kernel.h
@@ -0,0 +1,92 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_KERNEL_H
+#define EIGEN_MISC_KERNEL_H
+
+namespace internal {
+
+/** \class kernel_retval_base
+  *
+  */
+template<typename DecompositionType>
+struct traits<kernel_retval_base<DecompositionType> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<
+    typename MatrixType::Scalar,
+    MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix"
+                                   // is the number of cols of the original matrix
+                                   // so that the product "matrix * kernel = zero" makes sense
+    Dynamic,                       // we don't know at compile-time the dimension of the kernel
+    MatrixType::Options,
+    MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
+    MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space,
+                                     // whose dimension is the number of columns of the original matrix
+  > ReturnType;
+};
+
+template<typename _DecompositionType> struct kernel_retval_base
+ : public ReturnByValue<kernel_retval_base<_DecompositionType> >
+{
+  typedef _DecompositionType DecompositionType;
+  typedef ReturnByValue<kernel_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  kernel_retval_base(const DecompositionType& dec)
+    : m_dec(dec),
+      m_rank(dec.rank()),
+      m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
+  {}
+
+  inline Index rows() const { return m_dec.cols(); }
+  inline Index cols() const { return m_cols; }
+  inline Index rank() const { return m_rank; }
+  inline const DecompositionType& dec() const { return m_dec; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const kernel_retval<DecompositionType>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    Index m_rank, m_cols;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_KERNEL_HELPERS(DecompositionType) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
+  using Base::dec; \
+  using Base::rank; \
+  using Base::rows; \
+  using Base::cols; \
+  kernel_retval(const DecompositionType& dec) : Base(dec) {}
+
+#endif // EIGEN_MISC_KERNEL_H
diff --git a/extern/Eigen3/Eigen/src/misc/Solve.h b/extern/Eigen3/Eigen/src/misc/Solve.h
new file mode 100644
index 00000000000..b7cbcadb392
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/misc/Solve.h
@@ -0,0 +1,87 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_SOLVE_H
+#define EIGEN_MISC_SOLVE_H
+
+namespace internal {
+
+/** \class solve_retval_base
+  *
+  */
+template<typename DecompositionType, typename Rhs>
+struct traits<solve_retval_base<DecompositionType, Rhs> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<typename Rhs::Scalar,
+                 MatrixType::ColsAtCompileTime,
+                 Rhs::ColsAtCompileTime,
+                 Rhs::PlainObject::Options,
+                 MatrixType::MaxColsAtCompileTime,
+                 Rhs::MaxColsAtCompileTime> ReturnType;
+};
+
+template<typename _DecompositionType, typename Rhs> struct solve_retval_base
+ : public ReturnByValue<solve_retval_base<_DecompositionType, Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
+  typedef _DecompositionType DecompositionType;
+  typedef ReturnByValue<solve_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  solve_retval_base(const DecompositionType& dec, const Rhs& rhs)
+    : m_dec(dec), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_dec.cols(); }
+  inline Index cols() const { return m_rhs.cols(); }
+  inline const DecompositionType& dec() const { return m_dec; }
+  inline const RhsNestedCleaned& rhs() const { return m_rhs; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const solve_retval<DecompositionType,Rhs>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    const typename Rhs::Nested m_rhs;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_SOLVE_HELPERS(DecompositionType,Rhs) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::solve_retval_base<DecompositionType,Rhs> Base; \
+  using Base::dec; \
+  using Base::rhs; \
+  using Base::rows; \
+  using Base::cols; \
+  solve_retval(const DecompositionType& dec, const Rhs& rhs) \
+    : Base(dec, rhs) {}
+
+#endif // EIGEN_MISC_SOLVE_H
diff --git a/extern/Eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/extern/Eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
new file mode 100644
index 00000000000..7d509e78f3a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -0,0 +1,143 @@
+/** \returns an expression of the coefficient wise product of \c *this and \a other
+  *
+  * \sa MatrixBase::cwiseProduct
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient wise quotient of \c *this and \a other
+  *
+  * \sa MatrixBase::cwiseQuotient
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of \c *this and \a other
+  *
+  * Example: \include Cwise_min.cpp
+  * Output: \verbinclude Cwise_min.out
+  *
+  * \sa max()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(min,internal::scalar_min_op)
+
+/** \returns an expression of the coefficient-wise max of \c *this and \a other
+  *
+  * Example: \include Cwise_max.cpp
+  * Output: \verbinclude Cwise_max.out
+  *
+  * \sa min()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(max,internal::scalar_max_op)
+
+/** \returns an expression of the coefficient-wise \< operator of *this and \a other
+  *
+  * Example: \include Cwise_less.cpp
+  * Output: \verbinclude Cwise_less.out
+  *
+  * \sa all(), any(), operator>(), operator<=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator<,std::less)
+
+/** \returns an expression of the coefficient-wise \<= operator of *this and \a other
+  *
+  * Example: \include Cwise_less_equal.cpp
+  * Output: \verbinclude Cwise_less_equal.out
+  *
+  * \sa all(), any(), operator>=(), operator<()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator<=,std::less_equal)
+
+/** \returns an expression of the coefficient-wise \> operator of *this and \a other
+  *
+  * Example: \include Cwise_greater.cpp
+  * Output: \verbinclude Cwise_greater.out
+  *
+  * \sa all(), any(), operator>=(), operator<()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator>,std::greater)
+
+/** \returns an expression of the coefficient-wise \>= operator of *this and \a other
+  *
+  * Example: \include Cwise_greater_equal.cpp
+  * Output: \verbinclude Cwise_greater_equal.out
+  *
+  * \sa all(), any(), operator>(), operator<=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator>=,std::greater_equal)
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include Cwise_equal_equal.cpp
+  * Output: \verbinclude Cwise_equal_equal.out
+  *
+  * \sa all(), any(), isApprox(), isMuchSmallerThan()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator==,std::equal_to)
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include Cwise_not_equal.cpp
+  * Output: \verbinclude Cwise_not_equal.out
+  *
+  * \sa all(), any(), isApprox(), isMuchSmallerThan()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator!=,std::not_equal_to)
+
+// scalar addition
+
+/** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
+  *
+  * Example: \include Cwise_plus.cpp
+  * Output: \verbinclude Cwise_plus.out
+  *
+  * \sa operator+=(), operator-()
+  */
+inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator+(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>(derived(), internal::scalar_add_op<Scalar>(scalar));
+}
+
+friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator+(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
+{
+  return other + scalar;
+}
+
+/** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
+  *
+  * Example: \include Cwise_minus.cpp
+  * Output: \verbinclude Cwise_minus.out
+  *
+  * \sa operator+(), operator-=()
+  */
+inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator-(const Scalar& scalar) const
+{
+  return *this + (-scalar);
+}
+
+friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> >
+operator-(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
+{
+  return (-other) + scalar;
+}
diff --git a/extern/Eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/extern/Eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
new file mode 100644
index 00000000000..0dffaf4135c
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -0,0 +1,202 @@
+
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include Cwise_abs.cpp
+  * Output: \verbinclude Cwise_abs.out
+  *
+  * \sa abs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+abs() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include Cwise_abs2.cpp
+  * Output: \verbinclude Cwise_abs2.out
+  *
+  * \sa abs(), square()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+abs2() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise exponential of *this.
+  *
+  * Example: \include Cwise_exp.cpp
+  * Output: \verbinclude Cwise_exp.out
+  *
+  * \sa pow(), log(), sin(), cos()
+  */
+inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
+exp() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise logarithm of *this.
+  *
+  * Example: \include Cwise_log.cpp
+  * Output: \verbinclude Cwise_log.out
+  *
+  * \sa exp()
+  */
+inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
+log() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include Cwise_sqrt.cpp
+  * Output: \verbinclude Cwise_sqrt.out
+  *
+  * \sa pow(), square()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+sqrt() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cosine of *this.
+  *
+  * Example: \include Cwise_cos.cpp
+  * Output: \verbinclude Cwise_cos.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
+cos() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise sine of *this.
+  *
+  * Example: \include Cwise_sin.cpp
+  * Output: \verbinclude Cwise_sin.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
+sin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc cosine of *this.
+  *
+  * Example: \include Cwise_acos.cpp
+  * Output: \verbinclude Cwise_acos.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
+acos() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc sine of *this.
+  *
+  * Example: \include Cwise_asin.cpp
+  * Output: \verbinclude Cwise_asin.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
+asin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise tan of *this.
+  *
+  * Example: \include Cwise_tan.cpp
+  * Output: \verbinclude Cwise_tan.out
+  *
+  * \sa cos(), sin()
+  */
+inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
+tan() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise power of *this to the given exponent.
+  *
+  * Example: \include Cwise_pow.cpp
+  * Output: \verbinclude Cwise_pow.out
+  *
+  * \sa exp(), log()
+  */
+inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+pow(const Scalar& exponent) const
+{
+  return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+          (derived(), internal::scalar_pow_op<Scalar>(exponent));
+}
+
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include Cwise_inverse.cpp
+  * Output: \verbinclude Cwise_inverse.out
+  *
+  * \sa operator/(), operator*()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+inverse() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square of *this.
+  *
+  * Example: \include Cwise_square.cpp
+  * Output: \verbinclude Cwise_square.out
+  *
+  * \sa operator/(), operator*(), abs2()
+  */
+inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
+square() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cube of *this.
+  *
+  * Example: \include Cwise_cube.cpp
+  * Output: \verbinclude Cwise_cube.out
+  *
+  * \sa square(), pow()
+  */
+inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
+cube() const
+{
+  return derived();
+}
+
+#define EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(METHOD_NAME,FUNCTOR) \
+  inline const CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+  METHOD_NAME(const Scalar& s) const { \
+    return CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+            (derived(), std::bind2nd(FUNCTOR<Scalar>(), s)); \
+  }
+
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator==,  std::equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator!=,  std::not_equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<,   std::less)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=,  std::less_equal)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>,   std::greater)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=,  std::greater_equal)
+
diff --git a/extern/Eigen3/Eigen/src/plugins/BlockMethods.h b/extern/Eigen3/Eigen/src/plugins/BlockMethods.h
new file mode 100644
index 00000000000..4eba933388a
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/BlockMethods.h
@@ -0,0 +1,595 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCKMETHODS_H
+#define EIGEN_BLOCKMETHODS_H
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/** \internal expression type of a column */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
+/** \internal expression type of a row */
+typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
+typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
+/** \internal expression type of a block of whole columns */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
+/** \internal expression type of a block of whole rows */
+typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
+typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
+/** \internal expression type of a block of whole columns */
+template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+/** \internal expression type of a block of whole rows */
+template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/** \returns a dynamic-size expression of a block in *this.
+  *
+  * \param startRow the first row in the block
+  * \param startCol the first column in the block
+  * \param blockRows the number of rows in the block
+  * \param blockCols the number of columns in the block
+  *
+  * Example: \include MatrixBase_block_int_int_int_int.cpp
+  * Output: \verbinclude MatrixBase_block_int_int_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+inline Block<Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols)
+{
+  return Block<Derived>(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/** This is the const version of block(Index,Index,Index,Index). */
+inline const Block<const Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
+{
+  return Block<const Derived>(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+
+
+
+/** \returns a dynamic-size expression of a top-right corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_topRightCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_topRightCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> topRightCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/** This is the const version of topRightCorner(Index, Index).*/
+inline const Block<const Derived> topRightCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size top-right corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_topRightCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> topRightCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+}
+
+/** This is the const version of topRightCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> topRightCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+}
+
+
+
+
+/** \returns a dynamic-size expression of a top-left corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_topLeftCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> topLeftCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), 0, 0, cRows, cCols);
+}
+
+/** This is the const version of topLeftCorner(Index, Index).*/
+inline const Block<const Derived> topLeftCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), 0, 0, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size top-left corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> topLeftCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), 0, 0);
+}
+
+/** This is the const version of topLeftCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> topLeftCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), 0, 0);
+}
+
+
+
+/** \returns a dynamic-size expression of a bottom-right corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_bottomRightCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> bottomRightCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/** This is the const version of bottomRightCorner(Index, Index).*/
+inline const Block<const Derived> bottomRightCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size bottom-right corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> bottomRightCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+}
+
+/** This is the const version of bottomRightCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> bottomRightCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+}
+
+
+
+/** \returns a dynamic-size expression of a bottom-left corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> bottomLeftCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/** This is the const version of bottomLeftCorner(Index, Index).*/
+inline const Block<const Derived> bottomLeftCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size bottom-left corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> bottomLeftCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+}
+
+/** This is the const version of bottomLeftCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> bottomLeftCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+}
+
+
+
+/** \returns a block consisting of the top rows of *this.
+  *
+  * \param n the number of rows in the block
+  *
+  * Example: \include MatrixBase_topRows_int.cpp
+  * Output: \verbinclude MatrixBase_topRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr topRows(Index n)
+{
+  return RowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/** This is the const version of topRows(Index).*/
+inline ConstRowsBlockXpr topRows(Index n) const
+{
+  return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/** \returns a block consisting of the top rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  *
+  * Example: \include MatrixBase_template_int_topRows.cpp
+  * Output: \verbinclude MatrixBase_template_int_topRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type topRows()
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, N, cols());
+}
+
+/** This is the const version of topRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type topRows() const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of the bottom rows of *this.
+  *
+  * \param n the number of rows in the block
+  *
+  * Example: \include MatrixBase_bottomRows_int.cpp
+  * Output: \verbinclude MatrixBase_bottomRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr bottomRows(Index n)
+{
+  return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/** This is the const version of bottomRows(Index).*/
+inline ConstRowsBlockXpr bottomRows(Index n) const
+{
+  return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/** \returns a block consisting of the bottom rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  *
+  * Example: \include MatrixBase_template_int_bottomRows.cpp
+  * Output: \verbinclude MatrixBase_template_int_bottomRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type bottomRows()
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), rows() - N, 0, N, cols());
+}
+
+/** This is the const version of bottomRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type bottomRows() const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - N, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of a range of rows of *this.
+  *
+  * \param startRow the index of the first row in the block
+  * \param numRows the number of rows in the block
+  *
+  * Example: \include DenseBase_middleRows_int.cpp
+  * Output: \verbinclude DenseBase_middleRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr middleRows(Index startRow, Index numRows)
+{
+  return RowsBlockXpr(derived(), startRow, 0, numRows, cols());
+}
+
+/** This is the const version of middleRows(Index,Index).*/
+inline ConstRowsBlockXpr middleRows(Index startRow, Index numRows) const
+{
+  return ConstRowsBlockXpr(derived(), startRow, 0, numRows, cols());
+}
+
+/** \returns a block consisting of a range of rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  * \param startRow the index of the first row in the block
+  *
+  * Example: \include DenseBase_template_int_middleRows.cpp
+  * Output: \verbinclude DenseBase_template_int_middleRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow)
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, N, cols());
+}
+
+/** This is the const version of middleRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow) const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of the left columns of *this.
+  *
+  * \param n the number of columns in the block
+  *
+  * Example: \include MatrixBase_leftCols_int.cpp
+  * Output: \verbinclude MatrixBase_leftCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr leftCols(Index n)
+{
+  return ColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/** This is the const version of leftCols(Index).*/
+inline ConstColsBlockXpr leftCols(Index n) const
+{
+  return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/** \returns a block consisting of the left columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  *
+  * Example: \include MatrixBase_template_int_leftCols.cpp
+  * Output: \verbinclude MatrixBase_template_int_leftCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type leftCols()
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), N);
+}
+
+/** This is the const version of leftCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type leftCols() const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), N);
+}
+
+
+
+/** \returns a block consisting of the right columns of *this.
+  *
+  * \param n the number of columns in the block
+  *
+  * Example: \include MatrixBase_rightCols_int.cpp
+  * Output: \verbinclude MatrixBase_rightCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr rightCols(Index n)
+{
+  return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/** This is the const version of rightCols(Index).*/
+inline ConstColsBlockXpr rightCols(Index n) const
+{
+  return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/** \returns a block consisting of the right columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  *
+  * Example: \include MatrixBase_template_int_rightCols.cpp
+  * Output: \verbinclude MatrixBase_template_int_rightCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type rightCols()
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - N, rows(), N);
+}
+
+/** This is the const version of rightCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type rightCols() const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - N, rows(), N);
+}
+
+
+
+/** \returns a block consisting of a range of columns of *this.
+  *
+  * \param startCol the index of the first column in the block
+  * \param numCols the number of columns in the block
+  *
+  * Example: \include DenseBase_middleCols_int.cpp
+  * Output: \verbinclude DenseBase_middleCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr middleCols(Index startCol, Index numCols)
+{
+  return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/** This is the const version of middleCols(Index,Index).*/
+inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
+{
+  return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/** \returns a block consisting of a range of columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  * \param startCol the index of the first column in the block
+  *
+  * Example: \include DenseBase_template_int_middleCols.cpp
+  * Output: \verbinclude DenseBase_template_int_middleCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type middleCols(Index startCol)
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), N);
+}
+
+/** This is the const version of middleCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol) const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), N);
+}
+
+
+
+/** \returns a fixed-size expression of a block in *this.
+  *
+  * The template parameters \a BlockRows and \a BlockCols are the number of
+  * rows and columns in the block.
+  *
+  * \param startRow the first row in the block
+  * \param startCol the first column in the block
+  *
+  * Example: \include MatrixBase_block_int_int.cpp
+  * Output: \verbinclude MatrixBase_block_int_int.out
+  *
+  * \note since block is a templated member, the keyword template has to be used
+  * if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int BlockRows, int BlockCols>
+inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol)
+{
+  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+}
+
+/** This is the const version of block<>(Index, Index). */
+template<int BlockRows, int BlockCols>
+inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol) const
+{
+  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+}
+
+/** \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
+  *
+  * Example: \include MatrixBase_col.cpp
+  * Output: \verbinclude MatrixBase_col.out
+  *
+  * \sa row(), class Block */
+inline ColXpr col(Index i)
+{
+  return ColXpr(derived(), i);
+}
+
+/** This is the const version of col(). */
+inline ConstColXpr col(Index i) const
+{
+  return ConstColXpr(derived(), i);
+}
+
+/** \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
+  *
+  * Example: \include MatrixBase_row.cpp
+  * Output: \verbinclude MatrixBase_row.out
+  *
+  * \sa col(), class Block */
+inline RowXpr row(Index i)
+{
+  return RowXpr(derived(), i);
+}
+
+/** This is the const version of row(). */
+inline ConstRowXpr row(Index i) const
+{
+  return ConstRowXpr(derived(), i);
+}
+
+#endif // EIGEN_BLOCKMETHODS_H
diff --git a/extern/Eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h b/extern/Eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
new file mode 100644
index 00000000000..8f7765e72bd
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -0,0 +1,61 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+/** \returns an expression of the difference of \c *this and \a other
+  *
+  * \note If you want to substract a given scalar from all coefficients, see Cwise::operator-().
+  *
+  * \sa class CwiseBinaryOp, operator-=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
+
+/** \returns an expression of the sum of \c *this and \a other
+  *
+  * \note If you want to add a given scalar to all coefficients, see Cwise::operator+().
+  *
+  * \sa class CwiseBinaryOp, operator+=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
+
+/** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
+  *
+  * The template parameter \a CustomBinaryOp is the type of the functor
+  * of the custom operator (see class CwiseBinaryOp for an example)
+  *
+  * Here is an example illustrating the use of custom functors:
+  * \include class_CwiseBinaryOp.cpp
+  * Output: \verbinclude class_CwiseBinaryOp.out
+  *
+  * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
+  */
+template<typename CustomBinaryOp, typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
+binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
+{
+  return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
+}
+
diff --git a/extern/Eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h b/extern/Eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
new file mode 100644
index 00000000000..941d5153c59
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -0,0 +1,187 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/** \internal Represents a scalar multiple of an expression */
+typedef CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived> ScalarMultipleReturnType;
+/** \internal Represents a quotient of an expression by a scalar*/
+typedef CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived> ScalarQuotient1ReturnType;
+/** \internal the return type of conjugate() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
+                    const Derived&
+                  >::type ConjugateReturnType;
+/** \internal the return type of real() const */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    const CwiseUnaryOp<internal::scalar_real_op<Scalar>, const Derived>,
+                    const Derived&
+                  >::type RealReturnType;
+/** \internal the return type of real() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    CwiseUnaryView<internal::scalar_real_ref_op<Scalar>, Derived>,
+                    Derived&
+                  >::type NonConstRealReturnType;
+/** \internal the return type of imag() const */
+typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturnType;
+/** \internal the return type of imag() */
+typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/** \returns an expression of the opposite of \c *this
+  */
+inline const CwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>, const Derived>
+operator-() const { return derived(); }
+
+
+/** \returns an expression of \c *this scaled by the scalar factor \a scalar */
+inline const ScalarMultipleReturnType
+operator*(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived>
+    (derived(), internal::scalar_multiple_op<Scalar>(scalar));
+}
+
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+const ScalarMultipleReturnType operator*(const RealScalar& scalar) const;
+#endif
+
+/** \returns an expression of \c *this divided by the scalar value \a scalar */
+inline const CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, const Derived>
+operator/(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived>
+    (derived(), internal::scalar_quotient1_op<Scalar>(scalar));
+}
+
+/** Overloaded for efficient real matrix times complex scalar value */
+inline const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+operator*(const std::complex<Scalar>& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+    (*static_cast<const Derived*>(this), internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >(scalar));
+}
+
+inline friend const ScalarMultipleReturnType
+operator*(const Scalar& scalar, const StorageBaseType& matrix)
+{ return matrix*scalar; }
+
+inline friend const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
+{ return matrix*scalar; }
+
+/** \returns an expression of *this with the \a Scalar type casted to
+  * \a NewScalar.
+  *
+  * The template parameter \a NewScalar is the type we are casting the scalars to.
+  *
+  * \sa class CwiseUnaryOp
+  */
+template<typename NewType>
+typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, const Derived> >::type
+cast() const
+{
+  return derived();
+}
+
+/** \returns an expression of the complex conjugate of \c *this.
+  *
+  * \sa adjoint() */
+inline ConjugateReturnType
+conjugate() const
+{
+  return ConjugateReturnType(derived());
+}
+
+/** \returns a read-only expression of the real part of \c *this.
+  *
+  * \sa imag() */
+inline RealReturnType
+real() const { return derived(); }
+
+/** \returns an read-only expression of the imaginary part of \c *this.
+  *
+  * \sa real() */
+inline const ImagReturnType
+imag() const { return derived(); }
+
+/** \brief Apply a unary operator coefficient-wise
+  * \param[in]  func  Functor implementing the unary operator
+  * \tparam  CustomUnaryOp Type of \a func  
+  * \returns An expression of a custom coefficient-wise unary operator \a func of *this
+  *
+  * The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp_ptrfun.cpp
+  * Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
+  *
+  * Genuine functors allow for more possibilities, for instance it may contain a state.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp.cpp
+  * Output: \verbinclude class_CwiseUnaryOp.out
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp
+  */
+template<typename CustomUnaryOp>
+inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
+unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
+{
+  return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
+}
+
+/** \returns an expression of a custom coefficient-wise unary operator \a func of *this
+  *
+  * The template parameter \a CustomUnaryOp is the type of the functor
+  * of the custom unary operator.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp.cpp
+  * Output: \verbinclude class_CwiseUnaryOp.out
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp
+  */
+template<typename CustomViewOp>
+inline const CwiseUnaryView<CustomViewOp, const Derived>
+unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
+{
+  return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
+}
+
+/** \returns a non const expression of the real part of \c *this.
+  *
+  * \sa imag() */
+inline NonConstRealReturnType
+real() { return derived(); }
+
+/** \returns a non const expression of the imaginary part of \c *this.
+  *
+  * \sa real() */
+inline NonConstImagReturnType
+imag() { return derived(); }
diff --git a/extern/Eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/extern/Eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
new file mode 100644
index 00000000000..35183f91f80
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -0,0 +1,120 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+/** \returns an expression of the Schur product (coefficient wise product) of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseProduct.cpp
+  * Output: \verbinclude MatrixBase_cwiseProduct.out
+  *
+  * \sa class CwiseBinaryOp, cwiseAbs2
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include MatrixBase_cwiseEqual.cpp
+  * Output: \verbinclude MatrixBase_cwiseEqual.out
+  *
+  * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
+  */
+template<typename OtherDerived>
+inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include MatrixBase_cwiseNotEqual.cpp
+  * Output: \verbinclude MatrixBase_cwiseNotEqual.out
+  *
+  * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
+  */
+template<typename OtherDerived>
+inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseMin.cpp
+  * Output: \verbinclude MatrixBase_cwiseMin.out
+  *
+  * \sa class CwiseBinaryOp, max()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>
+cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise max of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseMax.cpp
+  * Output: \verbinclude MatrixBase_cwiseMax.out
+  *
+  * \sa class CwiseBinaryOp, min()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>
+cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise quotient of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseQuotient.cpp
+  * Output: \verbinclude MatrixBase_cwiseQuotient.out
+  *
+  * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
diff --git a/extern/Eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/extern/Eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
new file mode 100644
index 00000000000..a3d9a0e1465
--- /dev/null
+++ b/extern/Eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs.out
+  *
+  * \sa cwiseAbs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+cwiseAbs() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs2.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs2.out
+  *
+  * \sa cwiseAbs()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+cwiseAbs2() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include MatrixBase_cwiseSqrt.cpp
+  * Output: \verbinclude MatrixBase_cwiseSqrt.out
+  *
+  * \sa cwisePow(), cwiseSquare()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+cwiseSqrt() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include MatrixBase_cwiseInverse.cpp
+  * Output: \verbinclude MatrixBase_cwiseInverse.out
+  *
+  * \sa cwiseProduct()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+cwiseInverse() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
+  */
+inline const CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >, const Derived>
+cwiseEqual(const Scalar& s) const
+{
+  return CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >,const Derived>
+          (derived(), std::bind1st(std::equal_to<Scalar>(), s));
+}
diff --git a/extern/Eigen2/eigen-update.sh b/extern/Eigen3/eigen-update.sh
index 797c710c196..7be67890173 100755
--- a/extern/Eigen2/eigen-update.sh
+++ b/extern/Eigen3/eigen-update.sh
@@ -1,7 +1,7 @@
 #!/bin/sh
 
-echo "*** EIGEN2-HG Update utility"
-echo "*** This gets a new eigen2-hg tree and adapts it to blenders build structure"
+echo "*** EIGEN#-HG Update utility"
+echo "*** This gets a new eigen3-hg tree and adapts it to blenders build structure"
 echo "*** Warning! This script will wipe all the header file"
 
 if [ "x$1" = "x--i-really-know-what-im-doing" ] ; then
@@ -12,16 +12,16 @@ else
 fi
 
 # get the latest revision from repository.
-hg clone http://bitbucket.org/eigen/eigen2
-if [ -d eigen2 ]
+hg clone http://bitbucket.org/eigen/eigen
+if [ -d eigen ]
 then
-    cd eigen2
+    cd eigen
     # put here the version you want to use
-    hg up 2.0
+    hg up 3.0
     rm -f `find Eigen/ -type f -name "CMakeLists.txt"`
     cp -r Eigen ..
     cd ..
-    rm -rf eigen2
+    rm -rf eigen
 else
     echo "Did you install Mercurial?"
 fi
diff --git a/extern/SConscript b/extern/SConscript
index 6bb060adeda..f363d75d068 100644
--- a/extern/SConscript
+++ b/extern/SConscript
@@ -3,6 +3,7 @@
 Import('env')
 
 SConscript(['glew/SConscript'])
+SConscript(['colamd/SConscript'])
 
 if env['WITH_BF_GAMEENGINE']:
     SConscript(['recastnavigation/SConscript'])
diff --git a/extern/bullet2/CMakeLists.txt b/extern/bullet2/CMakeLists.txt
index 9cead6546b8..58841d606cf 100644
--- a/extern/bullet2/CMakeLists.txt
+++ b/extern/bullet2/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index 165626d530f..6ba6c5ad30d 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -29,7 +29,7 @@ subject to the following restrictions:
 #include <cfloat>
 #include <float.h>
 
-/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
+/* SVN $Revision: 35500 $ on $Date: 2011-03-12 21:34:17 +0100 (Sat, 12 Mar 2011) $ from http://bullet.googlecode.com*/
 #define BT_BULLET_VERSION 278
 
 inline int	btGetVersion()
diff --git a/extern/colamd/CMakeLists.txt b/extern/colamd/CMakeLists.txt
new file mode 100644
index 00000000000..5b565518e4f
--- /dev/null
+++ b/extern/colamd/CMakeLists.txt
@@ -0,0 +1,41 @@
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+#
+# The Original Code is Copyright (C) 2011, Blender Foundation
+# All rights reserved.
+#
+# Contributor(s): Blender Foundation,
+#                 Sergey Sharybin
+#
+# ***** END GPL LICENSE BLOCK *****
+
+set(INC
+	Include
+)
+
+set(INC_SYS
+
+)
+
+set(SRC
+	Source/colamd.c
+	Source/colamd_global.c
+
+	Include/colamd.h
+	Include/UFconfig.h
+)
+
+blender_add_lib(extern_colamd "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/extern/colamd/Doc/ChangeLog b/extern/colamd/Doc/ChangeLog
new file mode 100644
index 00000000000..29308e9ad01
--- /dev/null
+++ b/extern/colamd/Doc/ChangeLog
@@ -0,0 +1,129 @@
+May 31, 2007: version 2.7.0
+
+    * ported to 64-bit MATLAB
+
+    * subdirectories added (Source/, Include/, Lib/, Doc/, MATLAB/, Demo/)
+
+Dec 12, 2006, version 2.5.2
+
+    * minor MATLAB cleanup.  MATLAB functions renamed colamd2 and symamd2,
+	so that they do not conflict with the built-in versions.  Note that
+	the MATLAB built-in functions colamd and symamd are identical to
+	the colamd and symamd functions here.
+
+Aug 31, 2006: Version 2.5.1
+
+    * minor change to colamd.m and symamd.m, to use etree instead
+	of sparsfun.
+
+Apr. 30, 2006: Version 2.5
+
+    * colamd_recommended modified, to do more careful integer overflow
+	checking.  It now returns size_t, not int.  colamd_l_recommended
+	also returns size_t.  A zero is returned if an error occurs.  A
+	postive return value denotes success.  In v2.4 and earlier,
+	-1 was returned on error (an int or long).
+
+    * long replaced with UF_long integer, which is long except on WIN64.
+
+Nov 15, 2005:
+
+    * minor editting of comments; version number (2.4) unchanged.
+
+Changes from Version 2.3 to 2.4 (Aug 30, 2005)
+
+    * Makefile now relies on ../UFconfig/UFconfig.mk
+
+    * changed the dense row/col detection.  The meaning of the knobs
+	has thus changed.
+
+    * added an option to turn off aggressive absorption.  It was
+	always on in versions 2.3 and earlier.
+
+    * added a #define'd version number
+
+    * added a function pointer (colamd_printf) for COLAMD's printing.
+
+    * added a -DNPRINT option, to turn off printing at compile-time.
+
+    * added a check for integer overflow in colamd_recommended
+
+    * minor changes to allow for more simpler 100% test coverage
+
+    * bug fix.  If symamd v2.3 fails to allocate its copy of the input
+	matrix, then it erroneously frees a calloc'd workspace twice.
+	This bug has no effect on the MATLAB symamd mexFunction, since
+	mxCalloc terminates the mexFunction if it fails to allocate
+	memory.  Similarly, UMFPACK is not affected because it does not
+	use symamd.  The bug has no effect on the colamd ordering
+	routine in v2.3.
+
+Changes from Version 2.2 to 2.3 (Sept. 8, 2003)
+
+    * removed the call to the MATLAB spparms ('spumoni') function.
+	This can take a lot of time if you are ordering many small
+	matrices.  Only affects the MATLAB interface (colamdmex.c,
+	symamdmex.c, colamdtestmex.c, and symamdtestmex.c).  The
+	usage of the optional 2nd argument to the colamd and symamd
+	mexFunctions was changed accordingly.
+
+Changes from Version 2.1 to 2.2 (Sept. 23, 2002)
+
+    * extensive testing routines added (colamd_test.m, colamdtestmex.c,
+	and symamdtestmex.c), and the Makefile modified accordingly.
+
+    * a few typos in the comments corrected 
+
+    * use of the MATLAB "flops" command removed from colamd_demo, and an
+	m-file routine luflops.m added.
+
+    * an explicit typecast from unsigned to int added, for COLAMD_C and
+	COLAMD_R in colamd.h.
+
+    * #include <stdio.h> added to colamd_example.c
+
+
+Changes from Version 2.0 to 2.1 (May 4, 2001)
+
+    * TRUE and FALSE are predefined on some systems, so they are defined
+	    here only if not already defined.
+    
+    * web site changed
+
+    * UNIX Makefile modified, to handle the case if "." is not in your path.
+
+
+Changes from Version 1.0 to 2.0 (January 31, 2000)
+
+    No bugs were found in version 1.1.  These changes merely add new
+    functionality.
+
+    * added the COLAMD_RECOMMENDED (nnz, n_row, n_col) macro.
+
+    * moved the output statistics, from A, to a separate output argument.
+	    The arguments changed for the C-callable routines.
+
+    * added colamd_report and symamd_report.
+
+    * added a C-callable symamd routine.  Formerly, symamd was only
+	    available as a mexFunction from MATLAB.
+
+    * added error-checking to symamd.  Formerly, it assumed its input
+	    was error-free.
+
+    * added the optional stats and knobs arguments to the symamd mexFunction
+
+    * deleted colamd_help.  A help message is still available from
+	    "help colamd" and "help symamd" in MATLAB.
+
+    * deleted colamdtree.m and symamdtree.m.  Now, colamd.m and symamd.m
+	    also do the elimination tree post-ordering.  The Version 1.1
+	    colamd and symamd mexFunctions, which do not do the post-
+	    ordering, are now visible as colamdmex and symamdmex from
+	    MATLAB.  Essentialy, the post-ordering is now the default
+	    behavior of colamd.m and symamd.m, to match the behavior of
+	    colmmd and symmmd.  The post-ordering is only available in the
+	    MATLAB interface, not the C-callable interface.
+
+    * made a slight change to the dense row/column detection in symamd,
+	    to match the stated specifications.
diff --git a/extern/colamd/Doc/lesser.txt b/extern/colamd/Doc/lesser.txt
new file mode 100644
index 00000000000..8add30ad590
--- /dev/null
+++ b/extern/colamd/Doc/lesser.txt
@@ -0,0 +1,504 @@
+		  GNU LESSER GENERAL PUBLIC LICENSE
+		       Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+     51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+[This is the first released version of the Lesser GPL.  It also counts
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+
diff --git a/extern/colamd/Include/UFconfig.h b/extern/colamd/Include/UFconfig.h
new file mode 100644
index 00000000000..7b5e79e544f
--- /dev/null
+++ b/extern/colamd/Include/UFconfig.h
@@ -0,0 +1,118 @@
+/* ========================================================================== */
+/* === UFconfig.h =========================================================== */
+/* ========================================================================== */
+
+/* Configuration file for SuiteSparse: a Suite of Sparse matrix packages
+ * (AMD, COLAMD, CCOLAMD, CAMD, CHOLMOD, UMFPACK, CXSparse, and others).
+ *
+ * UFconfig.h provides the definition of the long integer.  On most systems,
+ * a C program can be compiled in LP64 mode, in which long's and pointers are
+ * both 64-bits, and int's are 32-bits.  Windows 64, however, uses the LLP64
+ * model, in which int's and long's are 32-bits, and long long's and pointers
+ * are 64-bits.
+ *
+ * SuiteSparse packages that include long integer versions are
+ * intended for the LP64 mode.  However, as a workaround for Windows 64
+ * (and perhaps other systems), the long integer can be redefined.
+ *
+ * If _WIN64 is defined, then the __int64 type is used instead of long.
+ *
+ * The long integer can also be defined at compile time.  For example, this
+ * could be added to UFconfig.mk:
+ *
+ * CFLAGS = -O -D'UF_long=long long' -D'UF_long_max=9223372036854775801' \
+ *   -D'UF_long_id="%lld"'
+ *
+ * This file defines UF_long as either long (on all but _WIN64) or
+ * __int64 on Windows 64.  The intent is that a UF_long is always a 64-bit
+ * integer in a 64-bit code.  ptrdiff_t might be a better choice than long;
+ * it is always the same size as a pointer.
+ *
+ * This file also defines the SUITESPARSE_VERSION and related definitions.
+ *
+ * Copyright (c) 2007, University of Florida.  No licensing restrictions
+ * apply to this file or to the UFconfig directory.  Author: Timothy A. Davis.
+ */
+
+#ifndef _UFCONFIG_H
+#define _UFCONFIG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <limits.h>
+
+/* ========================================================================== */
+/* === UF_long ============================================================== */
+/* ========================================================================== */
+
+#ifndef UF_long
+
+#ifdef _WIN64
+
+#define UF_long __int64
+#define UF_long_max _I64_MAX
+#define UF_long_id "%I64d"
+
+#else
+
+#define UF_long long
+#define UF_long_max LONG_MAX
+#define UF_long_id "%ld"
+
+#endif
+#endif
+
+/* ========================================================================== */
+/* === SuiteSparse version ================================================== */
+/* ========================================================================== */
+
+/* SuiteSparse is not a package itself, but a collection of packages, some of
+ * which must be used together (UMFPACK requires AMD, CHOLMOD requires AMD,
+ * COLAMD, CAMD, and CCOLAMD, etc).  A version number is provided here for the
+ * collection itself.  The versions of packages within each version of
+ * SuiteSparse are meant to work together.  Combining one packge from one
+ * version of SuiteSparse, with another package from another version of
+ * SuiteSparse, may or may not work.
+ *
+ * SuiteSparse Version 3.4.0 contains the following packages:
+ *
+ *  AMD		    version 2.2.0
+ *  CAMD	    version 2.2.0
+ *  COLAMD	    version 2.7.1
+ *  CCOLAMD	    version 2.7.1
+ *  CHOLMOD	    version 1.7.1
+ *  CSparse	    version 2.2.3
+ *  CXSparse	    version 2.2.3
+ *  KLU		    version 1.1.0
+ *  BTF		    version 1.1.0
+ *  LDL		    version 2.0.1
+ *  UFconfig	    version number is the same as SuiteSparse
+ *  UMFPACK	    version 5.4.0
+ *  RBio	    version 1.1.2
+ *  UFcollection    version 1.2.0
+ *  LINFACTOR       version 1.1.0
+ *  MESHND          version 1.1.1
+ *  SSMULT          version 2.0.0
+ *  MATLAB_Tools    no specific version number
+ *  SuiteSparseQR   version 1.1.2
+ *
+ * Other package dependencies:
+ *  BLAS	    required by CHOLMOD and UMFPACK
+ *  LAPACK	    required by CHOLMOD
+ *  METIS 4.0.1	    required by CHOLMOD (optional) and KLU (optional)
+ */
+
+#define SUITESPARSE_DATE "May 20, 2009"
+#define SUITESPARSE_VER_CODE(main,sub) ((main) * 1000 + (sub))
+#define SUITESPARSE_MAIN_VERSION 3
+#define SUITESPARSE_SUB_VERSION 4
+#define SUITESPARSE_SUBSUB_VERSION 0
+#define SUITESPARSE_VERSION \
+    SUITESPARSE_VER_CODE(SUITESPARSE_MAIN_VERSION,SUITESPARSE_SUB_VERSION)
+
+#ifdef __cplusplus
+}
+#endif
+#endif
diff --git a/extern/colamd/Include/colamd.h b/extern/colamd/Include/colamd.h
new file mode 100644
index 00000000000..26372d8fa96
--- /dev/null
+++ b/extern/colamd/Include/colamd.h
@@ -0,0 +1,255 @@
+/* ========================================================================== */
+/* === colamd/symamd prototypes and definitions ============================= */
+/* ========================================================================== */
+
+/* COLAMD / SYMAMD include file
+
+    You must include this file (colamd.h) in any routine that uses colamd,
+    symamd, or the related macros and definitions.
+
+    Authors:
+
+	The authors of the code itself are Stefan I. Larimore and Timothy A.
+	Davis (davis at cise.ufl.edu), University of Florida.  The algorithm was
+	developed in collaboration with John Gilbert, Xerox PARC, and Esmond
+	Ng, Oak Ridge National Laboratory.
+
+    Acknowledgements:
+
+	This work was supported by the National Science Foundation, under
+	grants DMS-9504974 and DMS-9803599.
+
+    Notice:
+
+	Copyright (c) 1998-2007, Timothy A. Davis, All Rights Reserved.
+
+	THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
+	EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
+
+	Permission is hereby granted to use, copy, modify, and/or distribute
+	this program, provided that the Copyright, this License, and the
+	Availability of the original version is retained on all copies and made
+	accessible to the end-user of any code or package that includes COLAMD
+	or any modified version of COLAMD. 
+
+    Availability:
+
+	The colamd/symamd library is available at
+
+	    http://www.cise.ufl.edu/research/sparse/colamd/
+
+	This is the http://www.cise.ufl.edu/research/sparse/colamd/colamd.h
+	file.  It is required by the colamd.c, colamdmex.c, and symamdmex.c
+	files, and by any C code that calls the routines whose prototypes are
+	listed below, or that uses the colamd/symamd definitions listed below.
+
+*/
+
+#ifndef COLAMD_H
+#define COLAMD_H
+
+/* make it easy for C++ programs to include COLAMD */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========================================================================== */
+/* === Include files ======================================================== */
+/* ========================================================================== */
+
+#include <stdlib.h>
+
+/* ========================================================================== */
+/* === COLAMD version ======================================================= */
+/* ========================================================================== */
+
+/* COLAMD Version 2.4 and later will include the following definitions.
+ * As an example, to test if the version you are using is 2.4 or later:
+ *
+ * #ifdef COLAMD_VERSION
+ *	if (COLAMD_VERSION >= COLAMD_VERSION_CODE (2,4)) ...
+ * #endif
+ *
+ * This also works during compile-time:
+ *
+ *  #if defined(COLAMD_VERSION) && (COLAMD_VERSION >= COLAMD_VERSION_CODE (2,4))
+ *    printf ("This is version 2.4 or later\n") ;
+ *  #else
+ *    printf ("This is an early version\n") ;
+ *  #endif
+ *
+ * Versions 2.3 and earlier of COLAMD do not include a #define'd version number.
+ */
+
+#define COLAMD_DATE "Nov 1, 2007"
+#define COLAMD_VERSION_CODE(main,sub) ((main) * 1000 + (sub))
+#define COLAMD_MAIN_VERSION 2
+#define COLAMD_SUB_VERSION 7
+#define COLAMD_SUBSUB_VERSION 1
+#define COLAMD_VERSION \
+	COLAMD_VERSION_CODE(COLAMD_MAIN_VERSION,COLAMD_SUB_VERSION)
+
+/* ========================================================================== */
+/* === Knob and statistics definitions ====================================== */
+/* ========================================================================== */
+
+/* size of the knobs [ ] array.  Only knobs [0..1] are currently used. */
+#define COLAMD_KNOBS 20
+
+/* number of output statistics.  Only stats [0..6] are currently used. */
+#define COLAMD_STATS 20
+
+/* knobs [0] and stats [0]: dense row knob and output statistic. */
+#define COLAMD_DENSE_ROW 0
+
+/* knobs [1] and stats [1]: dense column knob and output statistic. */
+#define COLAMD_DENSE_COL 1
+
+/* knobs [2]: aggressive absorption */
+#define COLAMD_AGGRESSIVE 2
+
+/* stats [2]: memory defragmentation count output statistic */
+#define COLAMD_DEFRAG_COUNT 2
+
+/* stats [3]: colamd status:  zero OK, > 0 warning or notice, < 0 error */
+#define COLAMD_STATUS 3
+
+/* stats [4..6]: error info, or info on jumbled columns */ 
+#define COLAMD_INFO1 4
+#define COLAMD_INFO2 5
+#define COLAMD_INFO3 6
+
+/* error codes returned in stats [3]: */
+#define COLAMD_OK				(0)
+#define COLAMD_OK_BUT_JUMBLED			(1)
+#define COLAMD_ERROR_A_not_present		(-1)
+#define COLAMD_ERROR_p_not_present		(-2)
+#define COLAMD_ERROR_nrow_negative		(-3)
+#define COLAMD_ERROR_ncol_negative		(-4)
+#define COLAMD_ERROR_nnz_negative		(-5)
+#define COLAMD_ERROR_p0_nonzero			(-6)
+#define COLAMD_ERROR_A_too_small		(-7)
+#define COLAMD_ERROR_col_length_negative	(-8)
+#define COLAMD_ERROR_row_index_out_of_bounds	(-9)
+#define COLAMD_ERROR_out_of_memory		(-10)
+#define COLAMD_ERROR_internal_error		(-999)
+
+
+/* ========================================================================== */
+/* === Prototypes of user-callable routines ================================= */
+/* ========================================================================== */
+
+/* define UF_long */
+#include "UFconfig.h"
+
+size_t colamd_recommended	/* returns recommended value of Alen, */
+				/* or 0 if input arguments are erroneous */
+(
+    int nnz,			/* nonzeros in A */
+    int n_row,			/* number of rows in A */
+    int n_col			/* number of columns in A */
+) ;
+
+size_t colamd_l_recommended	/* returns recommended value of Alen, */
+				/* or 0 if input arguments are erroneous */
+(
+    UF_long nnz,		/* nonzeros in A */
+    UF_long n_row,		/* number of rows in A */
+    UF_long n_col		/* number of columns in A */
+) ;
+
+void colamd_set_defaults	/* sets default parameters */
+(				/* knobs argument is modified on output */
+    double knobs [COLAMD_KNOBS]	/* parameter settings for colamd */
+) ;
+
+void colamd_l_set_defaults	/* sets default parameters */
+(				/* knobs argument is modified on output */
+    double knobs [COLAMD_KNOBS]	/* parameter settings for colamd */
+) ;
+
+int colamd			/* returns (1) if successful, (0) otherwise*/
+(				/* A and p arguments are modified on output */
+    int n_row,			/* number of rows in A */
+    int n_col,			/* number of columns in A */
+    int Alen,			/* size of the array A */
+    int A [],			/* row indices of A, of size Alen */
+    int p [],			/* column pointers of A, of size n_col+1 */
+    double knobs [COLAMD_KNOBS],/* parameter settings for colamd */
+    int stats [COLAMD_STATS]	/* colamd output statistics and error codes */
+) ;
+
+UF_long colamd_l		/* returns (1) if successful, (0) otherwise*/
+(				/* A and p arguments are modified on output */
+    UF_long n_row,		/* number of rows in A */
+    UF_long n_col,		/* number of columns in A */
+    UF_long Alen,		/* size of the array A */
+    UF_long A [],		/* row indices of A, of size Alen */
+    UF_long p [],		/* column pointers of A, of size n_col+1 */
+    double knobs [COLAMD_KNOBS],/* parameter settings for colamd */
+    UF_long stats [COLAMD_STATS]/* colamd output statistics and error codes */
+) ;
+
+int symamd				/* return (1) if OK, (0) otherwise */
+(
+    int n,				/* number of rows and columns of A */
+    int A [],				/* row indices of A */
+    int p [],				/* column pointers of A */
+    int perm [],			/* output permutation, size n_col+1 */
+    double knobs [COLAMD_KNOBS],	/* parameters (uses defaults if NULL) */
+    int stats [COLAMD_STATS],		/* output statistics and error codes */
+    void * (*allocate) (size_t, size_t),
+    					/* pointer to calloc (ANSI C) or */
+					/* mxCalloc (for MATLAB mexFunction) */
+    void (*release) (void *)
+    					/* pointer to free (ANSI C) or */
+    					/* mxFree (for MATLAB mexFunction) */
+) ;
+
+UF_long symamd_l			/* return (1) if OK, (0) otherwise */
+(
+    UF_long n,				/* number of rows and columns of A */
+    UF_long A [],			/* row indices of A */
+    UF_long p [],			/* column pointers of A */
+    UF_long perm [],			/* output permutation, size n_col+1 */
+    double knobs [COLAMD_KNOBS],	/* parameters (uses defaults if NULL) */
+    UF_long stats [COLAMD_STATS],	/* output statistics and error codes */
+    void * (*allocate) (size_t, size_t),
+    					/* pointer to calloc (ANSI C) or */
+					/* mxCalloc (for MATLAB mexFunction) */
+    void (*release) (void *)
+    					/* pointer to free (ANSI C) or */
+    					/* mxFree (for MATLAB mexFunction) */
+) ;
+
+void colamd_report
+(
+    int stats [COLAMD_STATS]
+) ;
+
+void colamd_l_report
+(
+    UF_long stats [COLAMD_STATS]
+) ;
+
+void symamd_report
+(
+    int stats [COLAMD_STATS]
+) ;
+
+void symamd_l_report
+(
+    UF_long stats [COLAMD_STATS]
+) ;
+
+#ifndef EXTERN
+#define EXTERN extern
+#endif
+
+EXTERN int (*colamd_printf) (const char *, ...) ;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* COLAMD_H */
diff --git a/extern/colamd/README.txt b/extern/colamd/README.txt
new file mode 100644
index 00000000000..5ed81c71d02
--- /dev/null
+++ b/extern/colamd/README.txt
@@ -0,0 +1,127 @@
+The COLAMD ordering method - Version 2.7
+-------------------------------------------------------------------------------
+
+The COLAMD column approximate minimum degree ordering algorithm computes
+a permutation vector P such that the LU factorization of A (:,P)
+tends to be sparser than that of A.  The Cholesky factorization of
+(A (:,P))'*(A (:,P)) will also tend to be sparser than that of A'*A.
+SYMAMD is a symmetric minimum degree ordering method based on COLAMD,
+available as a MATLAB-callable function.  It constructs a matrix M such
+that M'*M has the same pattern as A, and then uses COLAMD to compute a column
+ordering of M.  Colamd and symamd tend to be faster and generate better
+orderings than their MATLAB counterparts, colmmd and symmmd.
+
+To compile and test the colamd m-files and mexFunctions, just unpack the
+COLAMD/ directory from the COLAMD.tar.gz file, and run MATLAB from
+within that directory.  Next, type colamd_test to compile and test colamd
+and symamd.  This will work on any computer with MATLAB (Unix, PC, or Mac).
+Alternatively, type "make" (in Unix) to compile and run a simple example C
+code, without using MATLAB.
+
+To compile and install the colamd m-files and mexFunctions, just cd to
+COLAMD/MATLAB and type colamd_install in the MATLAB command window.
+A short demo will run.  Optionally, type colamd_test to run an extensive tests.
+Type "make" in Unix in the COLAMD directory to compile the C-callable
+library and to run a short demo.
+
+If you have MATLAB 7.2 or earlier, you must first edit UFconfig/UFconfig.h to
+remove the "-largeArrayDims" option from the MEX command (or just use
+colamd_make.m inside MATLAB).
+
+Colamd is a built-in routine in MATLAB, available from The 
+Mathworks, Inc.  Under most cases, the compiled COLAMD from Versions 2.0 to the
+current version do not differ.  Colamd Versions 2.2 and 2.3 differ only in their
+mexFunction interaces to MATLAB.  v2.4 fixes a bug in the symamd routine in
+v2.3.  The bug (in v2.3 and earlier) has no effect on the MATLAB symamd
+mexFunction.  v2.5 adds additional checks for integer overflow, so that
+the "int" version can be safely used with 64-bit pointers.  Refer to the
+ChangeLog for more details.
+
+To use colamd and symamd within an application written in C, all you need are
+colamd.c, colamd_global.c, and colamd.h, which are the C-callable
+colamd/symamd codes.  See colamd.c for more information on how to call
+colamd from a C program.
+
+Requires UFconfig, in the ../UFconfig directory relative to this directory.
+
+	Copyright (c) 1998-2007, Timothy A. Davis, All Rights Reserved.
+
+	See http://www.cise.ufl.edu/research/sparse/colamd (the colamd.c
+	file) for the License.
+
+
+Related papers:
+
+	T. A. Davis, J. R. Gilbert, S. Larimore, E. Ng, An approximate column
+	minimum degree ordering algorithm, ACM Transactions on Mathematical
+	Software, vol. 30, no. 3., pp. 353-376, 2004.
+
+	T. A. Davis, J. R. Gilbert, S. Larimore, E. Ng, Algorithm 836: COLAMD,
+	an approximate column minimum degree ordering algorithm, ACM
+	Transactions on Mathematical Software, vol. 30, no. 3., pp. 377-380,
+	2004.
+
+	"An approximate minimum degree column ordering algorithm",
+	S. I. Larimore, MS Thesis, Dept. of Computer and Information
+	Science and Engineering, University of Florida, Gainesville, FL,
+	1998.  CISE Tech Report TR-98-016.  Available at 
+	ftp://ftp.cise.ufl.edu/cis/tech-reports/tr98/tr98-016.ps
+	via anonymous ftp.
+
+	Approximate Deficiency for Ordering the Columns of a Matrix,
+	J. L. Kern, Senior Thesis, Dept. of Computer and Information
+	Science and Engineering, University of Florida, Gainesville, FL,
+	1999.  Available at http://www.cise.ufl.edu/~davis/Kern/kern.ps 
+
+
+Authors:  Stefan I. Larimore and Timothy A. Davis, University of Florida,
+in collaboration with John Gilbert, Xerox PARC (now at UC Santa Barbara),
+and Esmong Ng, Lawrence Berkeley National Laboratory (much of this work
+he did while at Oak Ridge National Laboratory). 
+
+COLAMD files:
+
+    Demo	    simple demo
+    Doc		    additional documentation (see colamd.c for more)
+    Include	    include file
+    Lib		    compiled C-callable library
+    Makefile	    primary Unix Makefile
+    MATLAB	    MATLAB functions
+    README.txt	    this file
+    Source	    C source code
+
+    ./Demo:
+    colamd_example.c	    simple example
+    colamd_example.out	    output of colamd_example.c
+    colamd_l_example.c	    simple example, long integers
+    colamd_l_example.out    output of colamd_l_example.c
+    Makefile		    Makefile for C demos
+
+    ./Doc:
+    ChangeLog	    change log
+    lesser.txt	    license
+
+    ./Include:
+    colamd.h	    include file
+
+    ./Lib:
+    Makefile	    Makefile for C-callable library
+
+    ./MATLAB:
+    colamd2.m		MATLAB interface for colamd2
+    colamd_demo.m	simple demo
+    colamd_install.m	compile and install colamd2 and symamd2
+    colamd_make.m	compile colamd2 and symamd2
+    colamdmex.ca	MATLAB mexFunction for colamd2
+    colamd_test.m	extensive test
+    colamdtestmex.c	test function for colamd
+    Contents.m		contents of the MATLAB directory
+    luflops.m		test code
+    Makefile		Makefile for MATLAB functions
+    symamd2.m		MATLAB interface for symamd2
+    symamdmex.c		MATLAB mexFunction for symamd2
+    symamdtestmex.c	test function for symamd
+
+    ./Source:
+    colamd.c		primary source code
+    colamd_global.c	globally defined function pointers (malloc, free, ...)
diff --git a/extern/colamd/SConscript b/extern/colamd/SConscript
new file mode 100644
index 00000000000..7930e3ace2d
--- /dev/null
+++ b/extern/colamd/SConscript
@@ -0,0 +1,14 @@
+#!/usr/bin/python
+import sys
+import os
+
+Import('env')
+
+defs = ''
+cflags = []
+
+src = env.Glob('Source/*.c')
+
+incs = './Include'
+
+env.BlenderLib ( libname = 'extern_colamd', sources=src, includes=Split(incs), defines=Split(defs), libtype=['extern', 'player'], priority=[20,137], compileflags=cflags )
diff --git a/extern/colamd/Source/colamd.c b/extern/colamd/Source/colamd.c
new file mode 100644
index 00000000000..5fe20d62822
--- /dev/null
+++ b/extern/colamd/Source/colamd.c
@@ -0,0 +1,3611 @@
+/* ========================================================================== */
+/* === colamd/symamd - a sparse matrix column ordering algorithm ============ */
+/* ========================================================================== */
+
+/* COLAMD / SYMAMD
+
+    colamd:  an approximate minimum degree column ordering algorithm,
+    	for LU factorization of symmetric or unsymmetric matrices,
+	QR factorization, least squares, interior point methods for
+	linear programming problems, and other related problems.
+
+    symamd:  an approximate minimum degree ordering algorithm for Cholesky
+    	factorization of symmetric matrices.
+
+    Purpose:
+
+	Colamd computes a permutation Q such that the Cholesky factorization of
+	(AQ)'(AQ) has less fill-in and requires fewer floating point operations
+	than A'A.  This also provides a good ordering for sparse partial
+	pivoting methods, P(AQ) = LU, where Q is computed prior to numerical
+	factorization, and P is computed during numerical factorization via
+	conventional partial pivoting with row interchanges.  Colamd is the
+	column ordering method used in SuperLU, part of the ScaLAPACK library.
+	It is also available as built-in function in MATLAB Version 6,
+	available from MathWorks, Inc. (http://www.mathworks.com).  This
+	routine can be used in place of colmmd in MATLAB.
+
+    	Symamd computes a permutation P of a symmetric matrix A such that the
+	Cholesky factorization of PAP' has less fill-in and requires fewer
+	floating point operations than A.  Symamd constructs a matrix M such
+	that M'M has the same nonzero pattern of A, and then orders the columns
+	of M using colmmd.  The column ordering of M is then returned as the
+	row and column ordering P of A. 
+
+    Authors:
+
+	The authors of the code itself are Stefan I. Larimore and Timothy A.
+	Davis (davis at cise.ufl.edu), University of Florida.  The algorithm was
+	developed in collaboration with John Gilbert, Xerox PARC, and Esmond
+	Ng, Oak Ridge National Laboratory.
+
+    Acknowledgements:
+
+	This work was supported by the National Science Foundation, under
+	grants DMS-9504974 and DMS-9803599.
+
+    Copyright and License:
+
+	Copyright (c) 1998-2007, Timothy A. Davis, All Rights Reserved.
+	COLAMD is also available under alternate licenses, contact T. Davis
+	for details.
+
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+
+	This library is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+	Lesser General Public License for more details.
+
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301
+	USA
+
+	Permission is hereby granted to use or copy this program under the
+	terms of the GNU LGPL, provided that the Copyright, this License,
+	and the Availability of the original version is retained on all copies.
+	User documentation of any code that uses this code or any modified
+	version of this code must cite the Copyright, this License, the
+	Availability note, and "Used by permission." Permission to modify
+	the code and to distribute modified code is granted, provided the
+	Copyright, this License, and the Availability note are retained,
+	and a notice that the code was modified is included.
+
+    Availability:
+
+	The colamd/symamd library is available at
+
+	    http://www.cise.ufl.edu/research/sparse/colamd/
+
+	This is the http://www.cise.ufl.edu/research/sparse/colamd/colamd.c
+	file.  It requires the colamd.h file.  It is required by the colamdmex.c
+	and symamdmex.c files, for the MATLAB interface to colamd and symamd.
+	Appears as ACM Algorithm 836.
+
+    See the ChangeLog file for changes since Version 1.0.
+
+    References:
+
+	T. A. Davis, J. R. Gilbert, S. Larimore, E. Ng, An approximate column
+	minimum degree ordering algorithm, ACM Transactions on Mathematical
+	Software, vol. 30, no. 3., pp. 353-376, 2004.
+
+	T. A. Davis, J. R. Gilbert, S. Larimore, E. Ng, Algorithm 836: COLAMD,
+	an approximate column minimum degree ordering algorithm, ACM
+	Transactions on Mathematical Software, vol. 30, no. 3., pp. 377-380,
+	2004.
+
+*/
+
+/* ========================================================================== */
+/* === Description of user-callable routines ================================ */
+/* ========================================================================== */
+
+/* COLAMD includes both int and UF_long versions of all its routines.  The
+ * description below is for the int version.  For UF_long, all int arguments
+ * become UF_long.  UF_long is normally defined as long, except for WIN64.
+
+    ----------------------------------------------------------------------------
+    colamd_recommended:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    size_t colamd_recommended (int nnz, int n_row, int n_col) ;
+	    size_t colamd_l_recommended (UF_long nnz, UF_long n_row,
+		UF_long n_col) ;
+
+	Purpose:
+
+	    Returns recommended value of Alen for use by colamd.  Returns 0
+	    if any input argument is negative.  The use of this routine
+	    is optional.  Not needed for symamd, which dynamically allocates
+	    its own memory.
+
+	    Note that in v2.4 and earlier, these routines returned int or long.
+	    They now return a value of type size_t.
+
+	Arguments (all input arguments):
+
+	    int nnz ;		Number of nonzeros in the matrix A.  This must
+				be the same value as p [n_col] in the call to
+				colamd - otherwise you will get a wrong value
+				of the recommended memory to use.
+
+	    int n_row ;		Number of rows in the matrix A.
+
+	    int n_col ;		Number of columns in the matrix A.
+
+    ----------------------------------------------------------------------------
+    colamd_set_defaults:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    colamd_set_defaults (double knobs [COLAMD_KNOBS]) ;
+	    colamd_l_set_defaults (double knobs [COLAMD_KNOBS]) ;
+
+	Purpose:
+
+	    Sets the default parameters.  The use of this routine is optional.
+
+	Arguments:
+
+	    double knobs [COLAMD_KNOBS] ;	Output only.
+
+		NOTE: the meaning of the dense row/col knobs has changed in v2.4
+
+		knobs [0] and knobs [1] control dense row and col detection:
+
+		Colamd: rows with more than
+		max (16, knobs [COLAMD_DENSE_ROW] * sqrt (n_col))
+		entries are removed prior to ordering.  Columns with more than
+		max (16, knobs [COLAMD_DENSE_COL] * sqrt (MIN (n_row,n_col)))
+		entries are removed prior to
+		ordering, and placed last in the output column ordering. 
+
+		Symamd: uses only knobs [COLAMD_DENSE_ROW], which is knobs [0].
+		Rows and columns with more than
+		max (16, knobs [COLAMD_DENSE_ROW] * sqrt (n))
+		entries are removed prior to ordering, and placed last in the
+		output ordering.
+
+		COLAMD_DENSE_ROW and COLAMD_DENSE_COL are defined as 0 and 1,
+		respectively, in colamd.h.  Default values of these two knobs
+		are both 10.  Currently, only knobs [0] and knobs [1] are
+		used, but future versions may use more knobs.  If so, they will
+		be properly set to their defaults by the future version of
+		colamd_set_defaults, so that the code that calls colamd will
+		not need to change, assuming that you either use
+		colamd_set_defaults, or pass a (double *) NULL pointer as the
+		knobs array to colamd or symamd.
+
+	    knobs [2]: aggressive absorption
+
+	        knobs [COLAMD_AGGRESSIVE] controls whether or not to do
+	        aggressive absorption during the ordering.  Default is TRUE.
+
+
+    ----------------------------------------------------------------------------
+    colamd:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    int colamd (int n_row, int n_col, int Alen, int *A, int *p,
+	    	double knobs [COLAMD_KNOBS], int stats [COLAMD_STATS]) ;
+	    UF_long colamd_l (UF_long n_row, UF_long n_col, UF_long Alen,
+		UF_long *A, UF_long *p, double knobs [COLAMD_KNOBS],
+		UF_long stats [COLAMD_STATS]) ;
+
+	Purpose:
+
+	    Computes a column ordering (Q) of A such that P(AQ)=LU or
+	    (AQ)'AQ=LL' have less fill-in and require fewer floating point
+	    operations than factorizing the unpermuted matrix A or A'A,
+	    respectively.
+	    
+	Returns:
+
+	    TRUE (1) if successful, FALSE (0) otherwise.
+
+	Arguments:
+
+	    int n_row ;		Input argument.
+
+		Number of rows in the matrix A.
+		Restriction:  n_row >= 0.
+		Colamd returns FALSE if n_row is negative.
+
+	    int n_col ;		Input argument.
+
+		Number of columns in the matrix A.
+		Restriction:  n_col >= 0.
+		Colamd returns FALSE if n_col is negative.
+
+	    int Alen ;		Input argument.
+
+		Restriction (see note):
+		Alen >= 2*nnz + 6*(n_col+1) + 4*(n_row+1) + n_col
+		Colamd returns FALSE if these conditions are not met.
+
+		Note:  this restriction makes an modest assumption regarding
+		the size of the two typedef's structures in colamd.h.
+		We do, however, guarantee that
+
+			Alen >= colamd_recommended (nnz, n_row, n_col)
+
+		will be sufficient.  Note: the macro version does not check
+		for integer overflow, and thus is not recommended.  Use
+		the colamd_recommended routine instead.
+
+	    int A [Alen] ;	Input argument, undefined on output.
+
+		A is an integer array of size Alen.  Alen must be at least as
+		large as the bare minimum value given above, but this is very
+		low, and can result in excessive run time.  For best
+		performance, we recommend that Alen be greater than or equal to
+		colamd_recommended (nnz, n_row, n_col), which adds
+		nnz/5 to the bare minimum value given above.
+
+		On input, the row indices of the entries in column c of the
+		matrix are held in A [(p [c]) ... (p [c+1]-1)].  The row indices
+		in a given column c need not be in ascending order, and
+		duplicate row indices may be be present.  However, colamd will
+		work a little faster if both of these conditions are met
+		(Colamd puts the matrix into this format, if it finds that the
+		the conditions are not met).
+
+		The matrix is 0-based.  That is, rows are in the range 0 to
+		n_row-1, and columns are in the range 0 to n_col-1.  Colamd
+		returns FALSE if any row index is out of range.
+
+		The contents of A are modified during ordering, and are
+		undefined on output.
+
+	    int p [n_col+1] ;	Both input and output argument.
+
+		p is an integer array of size n_col+1.  On input, it holds the
+		"pointers" for the column form of the matrix A.  Column c of
+		the matrix A is held in A [(p [c]) ... (p [c+1]-1)].  The first
+		entry, p [0], must be zero, and p [c] <= p [c+1] must hold
+		for all c in the range 0 to n_col-1.  The value p [n_col] is
+		thus the total number of entries in the pattern of the matrix A.
+		Colamd returns FALSE if these conditions are not met.
+
+		On output, if colamd returns TRUE, the array p holds the column
+		permutation (Q, for P(AQ)=LU or (AQ)'(AQ)=LL'), where p [0] is
+		the first column index in the new ordering, and p [n_col-1] is
+		the last.  That is, p [k] = j means that column j of A is the
+		kth pivot column, in AQ, where k is in the range 0 to n_col-1
+		(p [0] = j means that column j of A is the first column in AQ).
+
+		If colamd returns FALSE, then no permutation is returned, and
+		p is undefined on output.
+
+	    double knobs [COLAMD_KNOBS] ;	Input argument.
+
+		See colamd_set_defaults for a description.
+
+	    int stats [COLAMD_STATS] ;		Output argument.
+
+		Statistics on the ordering, and error status.
+		See colamd.h for related definitions.
+		Colamd returns FALSE if stats is not present.
+
+		stats [0]:  number of dense or empty rows ignored.
+
+		stats [1]:  number of dense or empty columns ignored (and
+				ordered last in the output permutation p)
+				Note that a row can become "empty" if it
+				contains only "dense" and/or "empty" columns,
+				and similarly a column can become "empty" if it
+				only contains "dense" and/or "empty" rows.
+
+		stats [2]:  number of garbage collections performed.
+				This can be excessively high if Alen is close
+				to the minimum required value.
+
+		stats [3]:  status code.  < 0 is an error code.
+			    > 1 is a warning or notice.
+
+			0	OK.  Each column of the input matrix contained
+				row indices in increasing order, with no
+				duplicates.
+
+			1	OK, but columns of input matrix were jumbled
+				(unsorted columns or duplicate entries).  Colamd
+				had to do some extra work to sort the matrix
+				first and remove duplicate entries, but it
+				still was able to return a valid permutation
+				(return value of colamd was TRUE).
+
+					stats [4]: highest numbered column that
+						is unsorted or has duplicate
+						entries.
+					stats [5]: last seen duplicate or
+						unsorted row index.
+					stats [6]: number of duplicate or
+						unsorted row indices.
+
+			-1	A is a null pointer
+
+			-2	p is a null pointer
+
+			-3 	n_row is negative
+
+					stats [4]: n_row
+
+			-4	n_col is negative
+
+					stats [4]: n_col
+
+			-5	number of nonzeros in matrix is negative
+
+					stats [4]: number of nonzeros, p [n_col]
+
+			-6	p [0] is nonzero
+
+					stats [4]: p [0]
+
+			-7	A is too small
+
+					stats [4]: required size
+					stats [5]: actual size (Alen)
+
+			-8	a column has a negative number of entries
+
+					stats [4]: column with < 0 entries
+					stats [5]: number of entries in col
+
+			-9	a row index is out of bounds
+
+					stats [4]: column with bad row index
+					stats [5]: bad row index
+					stats [6]: n_row, # of rows of matrx
+
+			-10	(unused; see symamd.c)
+
+			-999	(unused; see symamd.c)
+
+		Future versions may return more statistics in the stats array.
+
+	Example:
+	
+	    See http://www.cise.ufl.edu/research/sparse/colamd/example.c
+	    for a complete example.
+
+	    To order the columns of a 5-by-4 matrix with 11 nonzero entries in
+	    the following nonzero pattern
+
+	    	x 0 x 0
+		x 0 x x
+		0 x x 0
+		0 0 x x
+		x x 0 0
+
+	    with default knobs and no output statistics, do the following:
+
+		#include "colamd.h"
+		#define ALEN 100
+		int A [ALEN] = {0, 1, 4, 2, 4, 0, 1, 2, 3, 1, 3} ;
+		int p [ ] = {0, 3, 5, 9, 11} ;
+		int stats [COLAMD_STATS] ;
+		colamd (5, 4, ALEN, A, p, (double *) NULL, stats) ;
+
+	    The permutation is returned in the array p, and A is destroyed.
+
+    ----------------------------------------------------------------------------
+    symamd:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    int symamd (int n, int *A, int *p, int *perm,
+	    	double knobs [COLAMD_KNOBS], int stats [COLAMD_STATS],
+		void (*allocate) (size_t, size_t), void (*release) (void *)) ;
+	    UF_long symamd_l (UF_long n, UF_long *A, UF_long *p, UF_long *perm,
+	    	double knobs [COLAMD_KNOBS], UF_long stats [COLAMD_STATS],
+		void (*allocate) (size_t, size_t), void (*release) (void *)) ;
+
+	Purpose:
+
+    	    The symamd routine computes an ordering P of a symmetric sparse
+	    matrix A such that the Cholesky factorization PAP' = LL' remains
+	    sparse.  It is based on a column ordering of a matrix M constructed
+	    so that the nonzero pattern of M'M is the same as A.  The matrix A
+	    is assumed to be symmetric; only the strictly lower triangular part
+	    is accessed.  You must pass your selected memory allocator (usually
+	    calloc/free or mxCalloc/mxFree) to symamd, for it to allocate
+	    memory for the temporary matrix M.
+
+	Returns:
+
+	    TRUE (1) if successful, FALSE (0) otherwise.
+
+	Arguments:
+
+	    int n ;		Input argument.
+
+	    	Number of rows and columns in the symmetrix matrix A.
+		Restriction:  n >= 0.
+		Symamd returns FALSE if n is negative.
+
+	    int A [nnz] ;	Input argument.
+
+	    	A is an integer array of size nnz, where nnz = p [n].
+		
+		The row indices of the entries in column c of the matrix are
+		held in A [(p [c]) ... (p [c+1]-1)].  The row indices in a
+		given column c need not be in ascending order, and duplicate
+		row indices may be present.  However, symamd will run faster
+		if the columns are in sorted order with no duplicate entries. 
+
+		The matrix is 0-based.  That is, rows are in the range 0 to
+		n-1, and columns are in the range 0 to n-1.  Symamd
+		returns FALSE if any row index is out of range.
+
+		The contents of A are not modified.
+
+	    int p [n+1] ;   	Input argument.
+
+		p is an integer array of size n+1.  On input, it holds the
+		"pointers" for the column form of the matrix A.  Column c of
+		the matrix A is held in A [(p [c]) ... (p [c+1]-1)].  The first
+		entry, p [0], must be zero, and p [c] <= p [c+1] must hold
+		for all c in the range 0 to n-1.  The value p [n] is
+		thus the total number of entries in the pattern of the matrix A.
+		Symamd returns FALSE if these conditions are not met.
+
+		The contents of p are not modified.
+
+	    int perm [n+1] ;   	Output argument.
+
+		On output, if symamd returns TRUE, the array perm holds the
+		permutation P, where perm [0] is the first index in the new
+		ordering, and perm [n-1] is the last.  That is, perm [k] = j
+		means that row and column j of A is the kth column in PAP',
+		where k is in the range 0 to n-1 (perm [0] = j means
+		that row and column j of A are the first row and column in
+		PAP').  The array is used as a workspace during the ordering,
+		which is why it must be of length n+1, not just n.
+
+	    double knobs [COLAMD_KNOBS] ;	Input argument.
+
+		See colamd_set_defaults for a description.
+
+	    int stats [COLAMD_STATS] ;		Output argument.
+
+		Statistics on the ordering, and error status.
+		See colamd.h for related definitions.
+		Symamd returns FALSE if stats is not present.
+
+		stats [0]:  number of dense or empty row and columns ignored
+				(and ordered last in the output permutation 
+				perm).  Note that a row/column can become
+				"empty" if it contains only "dense" and/or
+				"empty" columns/rows.
+
+		stats [1]:  (same as stats [0])
+
+		stats [2]:  number of garbage collections performed.
+
+		stats [3]:  status code.  < 0 is an error code.
+			    > 1 is a warning or notice.
+
+			0	OK.  Each column of the input matrix contained
+				row indices in increasing order, with no
+				duplicates.
+
+			1	OK, but columns of input matrix were jumbled
+				(unsorted columns or duplicate entries).  Symamd
+				had to do some extra work to sort the matrix
+				first and remove duplicate entries, but it
+				still was able to return a valid permutation
+				(return value of symamd was TRUE).
+
+					stats [4]: highest numbered column that
+						is unsorted or has duplicate
+						entries.
+					stats [5]: last seen duplicate or
+						unsorted row index.
+					stats [6]: number of duplicate or
+						unsorted row indices.
+
+			-1	A is a null pointer
+
+			-2	p is a null pointer
+
+			-3	(unused, see colamd.c)
+
+			-4 	n is negative
+
+					stats [4]: n
+
+			-5	number of nonzeros in matrix is negative
+
+					stats [4]: # of nonzeros (p [n]).
+
+			-6	p [0] is nonzero
+
+					stats [4]: p [0]
+
+			-7	(unused)
+
+			-8	a column has a negative number of entries
+
+					stats [4]: column with < 0 entries
+					stats [5]: number of entries in col
+
+			-9	a row index is out of bounds
+
+					stats [4]: column with bad row index
+					stats [5]: bad row index
+					stats [6]: n_row, # of rows of matrx
+
+			-10	out of memory (unable to allocate temporary
+				workspace for M or count arrays using the
+				"allocate" routine passed into symamd).
+
+		Future versions may return more statistics in the stats array.
+
+	    void * (*allocate) (size_t, size_t)
+
+	    	A pointer to a function providing memory allocation.  The
+		allocated memory must be returned initialized to zero.  For a
+		C application, this argument should normally be a pointer to
+		calloc.  For a MATLAB mexFunction, the routine mxCalloc is
+		passed instead.
+
+	    void (*release) (size_t, size_t)
+
+	    	A pointer to a function that frees memory allocated by the
+		memory allocation routine above.  For a C application, this
+		argument should normally be a pointer to free.  For a MATLAB
+		mexFunction, the routine mxFree is passed instead.
+
+
+    ----------------------------------------------------------------------------
+    colamd_report:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    colamd_report (int stats [COLAMD_STATS]) ;
+	    colamd_l_report (UF_long stats [COLAMD_STATS]) ;
+
+	Purpose:
+
+	    Prints the error status and statistics recorded in the stats
+	    array on the standard error output (for a standard C routine)
+	    or on the MATLAB output (for a mexFunction).
+
+	Arguments:
+
+	    int stats [COLAMD_STATS] ;	Input only.  Statistics from colamd.
+
+
+    ----------------------------------------------------------------------------
+    symamd_report:
+    ----------------------------------------------------------------------------
+
+	C syntax:
+
+	    #include "colamd.h"
+	    symamd_report (int stats [COLAMD_STATS]) ;
+	    symamd_l_report (UF_long stats [COLAMD_STATS]) ;
+
+	Purpose:
+
+	    Prints the error status and statistics recorded in the stats
+	    array on the standard error output (for a standard C routine)
+	    or on the MATLAB output (for a mexFunction).
+
+	Arguments:
+
+	    int stats [COLAMD_STATS] ;	Input only.  Statistics from symamd.
+
+
+*/
+
+/* ========================================================================== */
+/* === Scaffolding code definitions  ======================================== */
+/* ========================================================================== */
+
+/* Ensure that debugging is turned off: */
+#ifndef NDEBUG
+#define NDEBUG
+#endif
+
+/* turn on debugging by uncommenting the following line
+ #undef NDEBUG
+*/
+
+/*
+   Our "scaffolding code" philosophy:  In our opinion, well-written library
+   code should keep its "debugging" code, and just normally have it turned off
+   by the compiler so as not to interfere with performance.  This serves
+   several purposes:
+
+   (1) assertions act as comments to the reader, telling you what the code
+	expects at that point.  All assertions will always be true (unless
+	there really is a bug, of course).
+
+   (2) leaving in the scaffolding code assists anyone who would like to modify
+	the code, or understand the algorithm (by reading the debugging output,
+	one can get a glimpse into what the code is doing).
+
+   (3) (gasp!) for actually finding bugs.  This code has been heavily tested
+	and "should" be fully functional and bug-free ... but you never know...
+
+    The code will become outrageously slow when debugging is
+    enabled.  To control the level of debugging output, set an environment
+    variable D to 0 (little), 1 (some), 2, 3, or 4 (lots).  When debugging,
+    you should see the following message on the standard output:
+
+    	colamd: debug version, D = 1 (THIS WILL BE SLOW!)
+
+    or a similar message for symamd.  If you don't, then debugging has not
+    been enabled.
+
+*/
+
+/* ========================================================================== */
+/* === Include files ======================================================== */
+/* ========================================================================== */
+
+#include "colamd.h"
+#include <limits.h>
+#include <math.h>
+
+#ifdef MATLAB_MEX_FILE
+#include "mex.h"
+#include "matrix.h"
+#endif /* MATLAB_MEX_FILE */
+
+#if !defined (NPRINT) || !defined (NDEBUG)
+#include <stdio.h>
+#endif
+
+#ifndef NULL
+#define NULL ((void *) 0)
+#endif
+
+/* ========================================================================== */
+/* === int or UF_long ======================================================= */
+/* ========================================================================== */
+
+/* define UF_long */
+#include "UFconfig.h"
+
+#ifdef DLONG
+
+#define Int UF_long
+#define ID  UF_long_id
+#define Int_MAX UF_long_max
+
+#define COLAMD_recommended colamd_l_recommended
+#define COLAMD_set_defaults colamd_l_set_defaults
+#define COLAMD_MAIN colamd_l
+#define SYMAMD_MAIN symamd_l
+#define COLAMD_report colamd_l_report
+#define SYMAMD_report symamd_l_report
+
+#else
+
+#define Int int
+#define ID "%d"
+#define Int_MAX INT_MAX
+
+#define COLAMD_recommended colamd_recommended
+#define COLAMD_set_defaults colamd_set_defaults
+#define COLAMD_MAIN colamd
+#define SYMAMD_MAIN symamd
+#define COLAMD_report colamd_report
+#define SYMAMD_report symamd_report
+
+#endif
+
+/* ========================================================================== */
+/* === Row and Column structures ============================================ */
+/* ========================================================================== */
+
+/* User code that makes use of the colamd/symamd routines need not directly */
+/* reference these structures.  They are used only for colamd_recommended. */
+
+typedef struct Colamd_Col_struct
+{
+    Int start ;		/* index for A of first row in this column, or DEAD */
+			/* if column is dead */
+    Int length ;	/* number of rows in this column */
+    union
+    {
+	Int thickness ;	/* number of original columns represented by this */
+			/* col, if the column is alive */
+	Int parent ;	/* parent in parent tree super-column structure, if */
+			/* the column is dead */
+    } shared1 ;
+    union
+    {
+	Int score ;	/* the score used to maintain heap, if col is alive */
+	Int order ;	/* pivot ordering of this column, if col is dead */
+    } shared2 ;
+    union
+    {
+	Int headhash ;	/* head of a hash bucket, if col is at the head of */
+			/* a degree list */
+	Int hash ;	/* hash value, if col is not in a degree list */
+	Int prev ;	/* previous column in degree list, if col is in a */
+			/* degree list (but not at the head of a degree list) */
+    } shared3 ;
+    union
+    {
+	Int degree_next ;	/* next column, if col is in a degree list */
+	Int hash_next ;		/* next column, if col is in a hash list */
+    } shared4 ;
+
+} Colamd_Col ;
+
+typedef struct Colamd_Row_struct
+{
+    Int start ;		/* index for A of first col in this row */
+    Int length ;	/* number of principal columns in this row */
+    union
+    {
+	Int degree ;	/* number of principal & non-principal columns in row */
+	Int p ;		/* used as a row pointer in init_rows_cols () */
+    } shared1 ;
+    union
+    {
+	Int mark ;	/* for computing set differences and marking dead rows*/
+	Int first_column ;/* first column in row (used in garbage collection) */
+    } shared2 ;
+
+} Colamd_Row ;
+
+/* ========================================================================== */
+/* === Definitions ========================================================== */
+/* ========================================================================== */
+
+/* Routines are either PUBLIC (user-callable) or PRIVATE (not user-callable) */
+#define PUBLIC
+#define PRIVATE static
+
+#define DENSE_DEGREE(alpha,n) \
+    ((Int) MAX (16.0, (alpha) * sqrt ((double) (n))))
+
+#define MAX(a,b) (((a) > (b)) ? (a) : (b))
+#define MIN(a,b) (((a) < (b)) ? (a) : (b))
+
+#define ONES_COMPLEMENT(r) (-(r)-1)
+
+/* -------------------------------------------------------------------------- */
+/* Change for version 2.1:  define TRUE and FALSE only if not yet defined */  
+/* -------------------------------------------------------------------------- */
+
+#ifndef TRUE
+#define TRUE (1)
+#endif
+
+#ifndef FALSE
+#define FALSE (0)
+#endif
+
+/* -------------------------------------------------------------------------- */
+
+#define EMPTY	(-1)
+
+/* Row and column status */
+#define ALIVE	(0)
+#define DEAD	(-1)
+
+/* Column status */
+#define DEAD_PRINCIPAL		(-1)
+#define DEAD_NON_PRINCIPAL	(-2)
+
+/* Macros for row and column status update and checking. */
+#define ROW_IS_DEAD(r)			ROW_IS_MARKED_DEAD (Row[r].shared2.mark)
+#define ROW_IS_MARKED_DEAD(row_mark)	(row_mark < ALIVE)
+#define ROW_IS_ALIVE(r)			(Row [r].shared2.mark >= ALIVE)
+#define COL_IS_DEAD(c)			(Col [c].start < ALIVE)
+#define COL_IS_ALIVE(c)			(Col [c].start >= ALIVE)
+#define COL_IS_DEAD_PRINCIPAL(c)	(Col [c].start == DEAD_PRINCIPAL)
+#define KILL_ROW(r)			{ Row [r].shared2.mark = DEAD ; }
+#define KILL_PRINCIPAL_COL(c)		{ Col [c].start = DEAD_PRINCIPAL ; }
+#define KILL_NON_PRINCIPAL_COL(c)	{ Col [c].start = DEAD_NON_PRINCIPAL ; }
+
+/* ========================================================================== */
+/* === Colamd reporting mechanism =========================================== */
+/* ========================================================================== */
+
+#if defined (MATLAB_MEX_FILE) || defined (MATHWORKS)
+/* In MATLAB, matrices are 1-based to the user, but 0-based internally */
+#define INDEX(i) ((i)+1)
+#else
+/* In C, matrices are 0-based and indices are reported as such in *_report */
+#define INDEX(i) (i)
+#endif
+
+/* All output goes through the PRINTF macro.  */
+#define PRINTF(params) { if (colamd_printf != NULL) (void) colamd_printf params ; }
+
+/* ========================================================================== */
+/* === Prototypes of PRIVATE routines ======================================= */
+/* ========================================================================== */
+
+PRIVATE Int init_rows_cols
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int p [],
+    Int stats [COLAMD_STATS]
+) ;
+
+PRIVATE void init_scoring
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int head [],
+    double knobs [COLAMD_KNOBS],
+    Int *p_n_row2,
+    Int *p_n_col2,
+    Int *p_max_deg
+) ;
+
+PRIVATE Int find_ordering
+(
+    Int n_row,
+    Int n_col,
+    Int Alen,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int head [],
+    Int n_col2,
+    Int max_deg,
+    Int pfree,
+    Int aggressive
+) ;
+
+PRIVATE void order_children
+(
+    Int n_col,
+    Colamd_Col Col [],
+    Int p []
+) ;
+
+PRIVATE void detect_super_cols
+(
+
+#ifndef NDEBUG
+    Int n_col,
+    Colamd_Row Row [],
+#endif /* NDEBUG */
+
+    Colamd_Col Col [],
+    Int A [],
+    Int head [],
+    Int row_start,
+    Int row_length
+) ;
+
+PRIVATE Int garbage_collection
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int *pfree
+) ;
+
+PRIVATE Int clear_mark
+(
+    Int tag_mark,
+    Int max_mark,
+    Int n_row,
+    Colamd_Row Row []
+) ;
+
+PRIVATE void print_report
+(
+    char *method,
+    Int stats [COLAMD_STATS]
+) ;
+
+/* ========================================================================== */
+/* === Debugging prototypes and definitions ================================= */
+/* ========================================================================== */
+
+#ifndef NDEBUG
+
+#include <assert.h>
+
+/* colamd_debug is the *ONLY* global variable, and is only */
+/* present when debugging */
+
+PRIVATE Int colamd_debug = 0 ;	/* debug print level */
+
+#define DEBUG0(params) { PRINTF (params) ; }
+#define DEBUG1(params) { if (colamd_debug >= 1) PRINTF (params) ; }
+#define DEBUG2(params) { if (colamd_debug >= 2) PRINTF (params) ; }
+#define DEBUG3(params) { if (colamd_debug >= 3) PRINTF (params) ; }
+#define DEBUG4(params) { if (colamd_debug >= 4) PRINTF (params) ; }
+
+#ifdef MATLAB_MEX_FILE
+#define ASSERT(expression) (mxAssert ((expression), ""))
+#else
+#define ASSERT(expression) (assert (expression))
+#endif /* MATLAB_MEX_FILE */
+
+PRIVATE void colamd_get_debug	/* gets the debug print level from getenv */
+(
+    char *method
+) ;
+
+PRIVATE void debug_deg_lists
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int head [],
+    Int min_score,
+    Int should,
+    Int max_deg
+) ;
+
+PRIVATE void debug_mark
+(
+    Int n_row,
+    Colamd_Row Row [],
+    Int tag_mark,
+    Int max_mark
+) ;
+
+PRIVATE void debug_matrix
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A []
+) ;
+
+PRIVATE void debug_structures
+(
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int n_col2
+) ;
+
+#else /* NDEBUG */
+
+/* === No debugging ========================================================= */
+
+#define DEBUG0(params) ;
+#define DEBUG1(params) ;
+#define DEBUG2(params) ;
+#define DEBUG3(params) ;
+#define DEBUG4(params) ;
+
+#define ASSERT(expression)
+
+#endif /* NDEBUG */
+
+/* ========================================================================== */
+/* === USER-CALLABLE ROUTINES: ============================================== */
+/* ========================================================================== */
+
+/* ========================================================================== */
+/* === colamd_recommended =================================================== */
+/* ========================================================================== */
+
+/*
+    The colamd_recommended routine returns the suggested size for Alen.  This
+    value has been determined to provide good balance between the number of
+    garbage collections and the memory requirements for colamd.  If any
+    argument is negative, or if integer overflow occurs, a 0 is returned as an
+    error condition.  2*nnz space is required for the row and column
+    indices of the matrix. COLAMD_C (n_col) + COLAMD_R (n_row) space is
+    required for the Col and Row arrays, respectively, which are internal to
+    colamd (roughly 6*n_col + 4*n_row).  An additional n_col space is the
+    minimal amount of "elbow room", and nnz/5 more space is recommended for
+    run time efficiency.
+
+    Alen is approximately 2.2*nnz + 7*n_col + 4*n_row + 10.
+
+    This function is not needed when using symamd.
+*/
+
+/* add two values of type size_t, and check for integer overflow */
+static size_t t_add (size_t a, size_t b, int *ok)
+{
+    (*ok) = (*ok) && ((a + b) >= MAX (a,b)) ;
+    return ((*ok) ? (a + b) : 0) ;
+}
+
+/* compute a*k where k is a small integer, and check for integer overflow */
+static size_t t_mult (size_t a, size_t k, int *ok)
+{
+    size_t i, s = 0 ;
+    for (i = 0 ; i < k ; i++)
+    {
+	s = t_add (s, a, ok) ;
+    }
+    return (s) ;
+}
+
+/* size of the Col and Row structures */
+#define COLAMD_C(n_col,ok) \
+    ((t_mult (t_add (n_col, 1, ok), sizeof (Colamd_Col), ok) / sizeof (Int)))
+
+#define COLAMD_R(n_row,ok) \
+    ((t_mult (t_add (n_row, 1, ok), sizeof (Colamd_Row), ok) / sizeof (Int)))
+
+
+PUBLIC size_t COLAMD_recommended	/* returns recommended value of Alen. */
+(
+    /* === Parameters ======================================================= */
+
+    Int nnz,			/* number of nonzeros in A */
+    Int n_row,			/* number of rows in A */
+    Int n_col			/* number of columns in A */
+)
+{
+    size_t s, c, r ;
+    int ok = TRUE ;
+    if (nnz < 0 || n_row < 0 || n_col < 0)
+    {
+	return (0) ;
+    }
+    s = t_mult (nnz, 2, &ok) ;	    /* 2*nnz */
+    c = COLAMD_C (n_col, &ok) ;	    /* size of column structures */
+    r = COLAMD_R (n_row, &ok) ;	    /* size of row structures */
+    s = t_add (s, c, &ok) ;
+    s = t_add (s, r, &ok) ;
+    s = t_add (s, n_col, &ok) ;	    /* elbow room */
+    s = t_add (s, nnz/5, &ok) ;	    /* elbow room */
+    ok = ok && (s < Int_MAX) ;
+    return (ok ? s : 0) ;
+}
+
+
+/* ========================================================================== */
+/* === colamd_set_defaults ================================================== */
+/* ========================================================================== */
+
+/*
+    The colamd_set_defaults routine sets the default values of the user-
+    controllable parameters for colamd and symamd:
+
+	Colamd: rows with more than max (16, knobs [0] * sqrt (n_col))
+	entries are removed prior to ordering.  Columns with more than
+	max (16, knobs [1] * sqrt (MIN (n_row,n_col))) entries are removed
+	prior to ordering, and placed last in the output column ordering. 
+
+	Symamd: Rows and columns with more than max (16, knobs [0] * sqrt (n))
+	entries are removed prior to ordering, and placed last in the
+	output ordering.
+
+	knobs [0]	dense row control
+
+	knobs [1]	dense column control
+
+	knobs [2]	if nonzero, do aggresive absorption
+
+	knobs [3..19]	unused, but future versions might use this
+
+*/
+
+PUBLIC void COLAMD_set_defaults
+(
+    /* === Parameters ======================================================= */
+
+    double knobs [COLAMD_KNOBS]		/* knob array */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int i ;
+
+    if (!knobs)
+    {
+	return ;			/* no knobs to initialize */
+    }
+    for (i = 0 ; i < COLAMD_KNOBS ; i++)
+    {
+	knobs [i] = 0 ;
+    }
+    knobs [COLAMD_DENSE_ROW] = 10 ;
+    knobs [COLAMD_DENSE_COL] = 10 ;
+    knobs [COLAMD_AGGRESSIVE] = TRUE ;	/* default: do aggressive absorption*/
+}
+
+
+/* ========================================================================== */
+/* === symamd =============================================================== */
+/* ========================================================================== */
+
+PUBLIC Int SYMAMD_MAIN			/* return TRUE if OK, FALSE otherwise */
+(
+    /* === Parameters ======================================================= */
+
+    Int n,				/* number of rows and columns of A */
+    Int A [],				/* row indices of A */
+    Int p [],				/* column pointers of A */
+    Int perm [],			/* output permutation, size n+1 */
+    double knobs [COLAMD_KNOBS],	/* parameters (uses defaults if NULL) */
+    Int stats [COLAMD_STATS],		/* output statistics and error codes */
+    void * (*allocate) (size_t, size_t),
+    					/* pointer to calloc (ANSI C) or */
+					/* mxCalloc (for MATLAB mexFunction) */
+    void (*release) (void *)
+    					/* pointer to free (ANSI C) or */
+    					/* mxFree (for MATLAB mexFunction) */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int *count ;		/* length of each column of M, and col pointer*/
+    Int *mark ;			/* mark array for finding duplicate entries */
+    Int *M ;			/* row indices of matrix M */
+    size_t Mlen ;		/* length of M */
+    Int n_row ;			/* number of rows in M */
+    Int nnz ;			/* number of entries in A */
+    Int i ;			/* row index of A */
+    Int j ;			/* column index of A */
+    Int k ;			/* row index of M */ 
+    Int mnz ;			/* number of nonzeros in M */
+    Int pp ;			/* index into a column of A */
+    Int last_row ;		/* last row seen in the current column */
+    Int length ;		/* number of nonzeros in a column */
+
+    double cknobs [COLAMD_KNOBS] ;		/* knobs for colamd */
+    double default_knobs [COLAMD_KNOBS] ;	/* default knobs for colamd */
+
+#ifndef NDEBUG
+    colamd_get_debug ("symamd") ;
+#endif /* NDEBUG */
+
+    /* === Check the input arguments ======================================== */
+
+    if (!stats)
+    {
+	DEBUG0 (("symamd: stats not present\n")) ;
+	return (FALSE) ;
+    }
+    for (i = 0 ; i < COLAMD_STATS ; i++)
+    {
+	stats [i] = 0 ;
+    }
+    stats [COLAMD_STATUS] = COLAMD_OK ;
+    stats [COLAMD_INFO1] = -1 ;
+    stats [COLAMD_INFO2] = -1 ;
+
+    if (!A)
+    {
+    	stats [COLAMD_STATUS] = COLAMD_ERROR_A_not_present ;
+	DEBUG0 (("symamd: A not present\n")) ;
+	return (FALSE) ;
+    }
+
+    if (!p)		/* p is not present */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_p_not_present ;
+	DEBUG0 (("symamd: p not present\n")) ;
+    	return (FALSE) ;
+    }
+
+    if (n < 0)		/* n must be >= 0 */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_ncol_negative ;
+	stats [COLAMD_INFO1] = n ;
+	DEBUG0 (("symamd: n negative %d\n", n)) ;
+    	return (FALSE) ;
+    }
+
+    nnz = p [n] ;
+    if (nnz < 0)	/* nnz must be >= 0 */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_nnz_negative ;
+	stats [COLAMD_INFO1] = nnz ;
+	DEBUG0 (("symamd: number of entries negative %d\n", nnz)) ;
+	return (FALSE) ;
+    }
+
+    if (p [0] != 0)
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_p0_nonzero ;
+	stats [COLAMD_INFO1] = p [0] ;
+	DEBUG0 (("symamd: p[0] not zero %d\n", p [0])) ;
+	return (FALSE) ;
+    }
+
+    /* === If no knobs, set default knobs =================================== */
+
+    if (!knobs)
+    {
+	COLAMD_set_defaults (default_knobs) ;
+	knobs = default_knobs ;
+    }
+
+    /* === Allocate count and mark ========================================== */
+
+    count = (Int *) ((*allocate) (n+1, sizeof (Int))) ;
+    if (!count)
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_out_of_memory ;
+	DEBUG0 (("symamd: allocate count (size %d) failed\n", n+1)) ;
+	return (FALSE) ;
+    }
+
+    mark = (Int *) ((*allocate) (n+1, sizeof (Int))) ;
+    if (!mark)
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_out_of_memory ;
+	(*release) ((void *) count) ;
+	DEBUG0 (("symamd: allocate mark (size %d) failed\n", n+1)) ;
+	return (FALSE) ;
+    }
+
+    /* === Compute column counts of M, check if A is valid ================== */
+
+    stats [COLAMD_INFO3] = 0 ;  /* number of duplicate or unsorted row indices*/
+
+    for (i = 0 ; i < n ; i++)
+    {
+    	mark [i] = -1 ;
+    }
+
+    for (j = 0 ; j < n ; j++)
+    {
+	last_row = -1 ;
+
+	length = p [j+1] - p [j] ;
+	if (length < 0)
+	{
+	    /* column pointers must be non-decreasing */
+	    stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ;
+	    stats [COLAMD_INFO1] = j ;
+	    stats [COLAMD_INFO2] = length ;
+	    (*release) ((void *) count) ;
+	    (*release) ((void *) mark) ;
+	    DEBUG0 (("symamd: col %d negative length %d\n", j, length)) ;
+	    return (FALSE) ;
+	}
+
+	for (pp = p [j] ; pp < p [j+1] ; pp++)
+	{
+	    i = A [pp] ;
+	    if (i < 0 || i >= n)
+	    {
+		/* row index i, in column j, is out of bounds */
+		stats [COLAMD_STATUS] = COLAMD_ERROR_row_index_out_of_bounds ;
+		stats [COLAMD_INFO1] = j ;
+		stats [COLAMD_INFO2] = i ;
+		stats [COLAMD_INFO3] = n ;
+		(*release) ((void *) count) ;
+		(*release) ((void *) mark) ;
+		DEBUG0 (("symamd: row %d col %d out of bounds\n", i, j)) ;
+		return (FALSE) ;
+	    }
+
+	    if (i <= last_row || mark [i] == j)
+	    {
+		/* row index is unsorted or repeated (or both), thus col */
+		/* is jumbled.  This is a notice, not an error condition. */
+		stats [COLAMD_STATUS] = COLAMD_OK_BUT_JUMBLED ;
+		stats [COLAMD_INFO1] = j ;
+		stats [COLAMD_INFO2] = i ;
+		(stats [COLAMD_INFO3]) ++ ;
+		DEBUG1 (("symamd: row %d col %d unsorted/duplicate\n", i, j)) ;
+	    }
+
+	    if (i > j && mark [i] != j)
+	    {
+		/* row k of M will contain column indices i and j */
+		count [i]++ ;
+		count [j]++ ;
+	    }
+
+	    /* mark the row as having been seen in this column */
+	    mark [i] = j ;
+
+	    last_row = i ;
+	}
+    }
+
+    /* v2.4: removed free(mark) */
+
+    /* === Compute column pointers of M ===================================== */
+
+    /* use output permutation, perm, for column pointers of M */
+    perm [0] = 0 ;
+    for (j = 1 ; j <= n ; j++)
+    {
+	perm [j] = perm [j-1] + count [j-1] ;
+    }
+    for (j = 0 ; j < n ; j++)
+    {
+	count [j] = perm [j] ;
+    }
+
+    /* === Construct M ====================================================== */
+
+    mnz = perm [n] ;
+    n_row = mnz / 2 ;
+    Mlen = COLAMD_recommended (mnz, n_row, n) ;
+    M = (Int *) ((*allocate) (Mlen, sizeof (Int))) ;
+    DEBUG0 (("symamd: M is %d-by-%d with %d entries, Mlen = %g\n",
+    	n_row, n, mnz, (double) Mlen)) ;
+
+    if (!M)
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_out_of_memory ;
+	(*release) ((void *) count) ;
+	(*release) ((void *) mark) ;
+	DEBUG0 (("symamd: allocate M (size %g) failed\n", (double) Mlen)) ;
+	return (FALSE) ;
+    }
+
+    k = 0 ;
+
+    if (stats [COLAMD_STATUS] == COLAMD_OK)
+    {
+	/* Matrix is OK */
+	for (j = 0 ; j < n ; j++)
+	{
+	    ASSERT (p [j+1] - p [j] >= 0) ;
+	    for (pp = p [j] ; pp < p [j+1] ; pp++)
+	    {
+		i = A [pp] ;
+		ASSERT (i >= 0 && i < n) ;
+		if (i > j)
+		{
+		    /* row k of M contains column indices i and j */
+		    M [count [i]++] = k ;
+		    M [count [j]++] = k ;
+		    k++ ;
+		}
+	    }
+	}
+    }
+    else
+    {
+	/* Matrix is jumbled.  Do not add duplicates to M.  Unsorted cols OK. */
+	DEBUG0 (("symamd: Duplicates in A.\n")) ;
+	for (i = 0 ; i < n ; i++)
+	{
+	    mark [i] = -1 ;
+	}
+	for (j = 0 ; j < n ; j++)
+	{
+	    ASSERT (p [j+1] - p [j] >= 0) ;
+	    for (pp = p [j] ; pp < p [j+1] ; pp++)
+	    {
+		i = A [pp] ;
+		ASSERT (i >= 0 && i < n) ;
+		if (i > j && mark [i] != j)
+		{
+		    /* row k of M contains column indices i and j */
+		    M [count [i]++] = k ;
+		    M [count [j]++] = k ;
+		    k++ ;
+		    mark [i] = j ;
+		}
+	    }
+	}
+	/* v2.4: free(mark) moved below */
+    }
+
+    /* count and mark no longer needed */
+    (*release) ((void *) count) ;
+    (*release) ((void *) mark) ;	/* v2.4: free (mark) moved here */
+    ASSERT (k == n_row) ;
+
+    /* === Adjust the knobs for M =========================================== */
+
+    for (i = 0 ; i < COLAMD_KNOBS ; i++)
+    {
+	cknobs [i] = knobs [i] ;
+    }
+
+    /* there are no dense rows in M */
+    cknobs [COLAMD_DENSE_ROW] = -1 ;
+    cknobs [COLAMD_DENSE_COL] = knobs [COLAMD_DENSE_ROW] ;
+
+    /* === Order the columns of M =========================================== */
+
+    /* v2.4: colamd cannot fail here, so the error check is removed */
+    (void) COLAMD_MAIN (n_row, n, (Int) Mlen, M, perm, cknobs, stats) ;
+
+    /* Note that the output permutation is now in perm */
+
+    /* === get the statistics for symamd from colamd ======================== */
+
+    /* a dense column in colamd means a dense row and col in symamd */
+    stats [COLAMD_DENSE_ROW] = stats [COLAMD_DENSE_COL] ;
+
+    /* === Free M =========================================================== */
+
+    (*release) ((void *) M) ;
+    DEBUG0 (("symamd: done.\n")) ;
+    return (TRUE) ;
+
+}
+
+/* ========================================================================== */
+/* === colamd =============================================================== */
+/* ========================================================================== */
+
+/*
+    The colamd routine computes a column ordering Q of a sparse matrix
+    A such that the LU factorization P(AQ) = LU remains sparse, where P is
+    selected via partial pivoting.   The routine can also be viewed as
+    providing a permutation Q such that the Cholesky factorization
+    (AQ)'(AQ) = LL' remains sparse.
+*/
+
+PUBLIC Int COLAMD_MAIN		/* returns TRUE if successful, FALSE otherwise*/
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,			/* number of rows in A */
+    Int n_col,			/* number of columns in A */
+    Int Alen,			/* length of A */
+    Int A [],			/* row indices of A */
+    Int p [],			/* pointers to columns in A */
+    double knobs [COLAMD_KNOBS],/* parameters (uses defaults if NULL) */
+    Int stats [COLAMD_STATS]	/* output statistics and error codes */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int i ;			/* loop index */
+    Int nnz ;			/* nonzeros in A */
+    size_t Row_size ;		/* size of Row [], in integers */
+    size_t Col_size ;		/* size of Col [], in integers */
+    size_t need ;		/* minimum required length of A */
+    Colamd_Row *Row ;		/* pointer into A of Row [0..n_row] array */
+    Colamd_Col *Col ;		/* pointer into A of Col [0..n_col] array */
+    Int n_col2 ;		/* number of non-dense, non-empty columns */
+    Int n_row2 ;		/* number of non-dense, non-empty rows */
+    Int ngarbage ;		/* number of garbage collections performed */
+    Int max_deg ;		/* maximum row degree */
+    double default_knobs [COLAMD_KNOBS] ;	/* default knobs array */
+    Int aggressive ;		/* do aggressive absorption */
+    int ok ;
+
+#ifndef NDEBUG
+    colamd_get_debug ("colamd") ;
+#endif /* NDEBUG */
+
+    /* === Check the input arguments ======================================== */
+
+    if (!stats)
+    {
+	DEBUG0 (("colamd: stats not present\n")) ;
+	return (FALSE) ;
+    }
+    for (i = 0 ; i < COLAMD_STATS ; i++)
+    {
+	stats [i] = 0 ;
+    }
+    stats [COLAMD_STATUS] = COLAMD_OK ;
+    stats [COLAMD_INFO1] = -1 ;
+    stats [COLAMD_INFO2] = -1 ;
+
+    if (!A)		/* A is not present */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_A_not_present ;
+	DEBUG0 (("colamd: A not present\n")) ;
+	return (FALSE) ;
+    }
+
+    if (!p)		/* p is not present */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_p_not_present ;
+	DEBUG0 (("colamd: p not present\n")) ;
+    	return (FALSE) ;
+    }
+
+    if (n_row < 0)	/* n_row must be >= 0 */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_nrow_negative ;
+	stats [COLAMD_INFO1] = n_row ;
+	DEBUG0 (("colamd: nrow negative %d\n", n_row)) ;
+    	return (FALSE) ;
+    }
+
+    if (n_col < 0)	/* n_col must be >= 0 */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_ncol_negative ;
+	stats [COLAMD_INFO1] = n_col ;
+	DEBUG0 (("colamd: ncol negative %d\n", n_col)) ;
+    	return (FALSE) ;
+    }
+
+    nnz = p [n_col] ;
+    if (nnz < 0)	/* nnz must be >= 0 */
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_nnz_negative ;
+	stats [COLAMD_INFO1] = nnz ;
+	DEBUG0 (("colamd: number of entries negative %d\n", nnz)) ;
+	return (FALSE) ;
+    }
+
+    if (p [0] != 0)
+    {
+	stats [COLAMD_STATUS] = COLAMD_ERROR_p0_nonzero	;
+	stats [COLAMD_INFO1] = p [0] ;
+	DEBUG0 (("colamd: p[0] not zero %d\n", p [0])) ;
+	return (FALSE) ;
+    }
+
+    /* === If no knobs, set default knobs =================================== */
+
+    if (!knobs)
+    {
+	COLAMD_set_defaults (default_knobs) ;
+	knobs = default_knobs ;
+    }
+
+    aggressive = (knobs [COLAMD_AGGRESSIVE] != FALSE) ;
+
+    /* === Allocate the Row and Col arrays from array A ===================== */
+
+    ok = TRUE ;
+    Col_size = COLAMD_C (n_col, &ok) ;	    /* size of Col array of structs */
+    Row_size = COLAMD_R (n_row, &ok) ;	    /* size of Row array of structs */
+
+    /* need = 2*nnz + n_col + Col_size + Row_size ; */
+    need = t_mult (nnz, 2, &ok) ;
+    need = t_add (need, n_col, &ok) ;
+    need = t_add (need, Col_size, &ok) ;
+    need = t_add (need, Row_size, &ok) ;
+
+    if (!ok || need > (size_t) Alen || need > Int_MAX)
+    {
+	/* not enough space in array A to perform the ordering */
+	stats [COLAMD_STATUS] = COLAMD_ERROR_A_too_small ;
+	stats [COLAMD_INFO1] = need ;
+	stats [COLAMD_INFO2] = Alen ;
+	DEBUG0 (("colamd: Need Alen >= %d, given only Alen = %d\n", need,Alen));
+	return (FALSE) ;
+    }
+
+    Alen -= Col_size + Row_size ;
+    Col = (Colamd_Col *) &A [Alen] ;
+    Row = (Colamd_Row *) &A [Alen + Col_size] ;
+
+    /* === Construct the row and column data structures ===================== */
+
+    if (!init_rows_cols (n_row, n_col, Row, Col, A, p, stats))
+    {
+	/* input matrix is invalid */
+	DEBUG0 (("colamd: Matrix invalid\n")) ;
+	return (FALSE) ;
+    }
+
+    /* === Initialize scores, kill dense rows/columns ======================= */
+
+    init_scoring (n_row, n_col, Row, Col, A, p, knobs,
+	&n_row2, &n_col2, &max_deg) ;
+
+    /* === Order the supercolumns =========================================== */
+
+    ngarbage = find_ordering (n_row, n_col, Alen, Row, Col, A, p,
+	n_col2, max_deg, 2*nnz, aggressive) ;
+
+    /* === Order the non-principal columns ================================== */
+
+    order_children (n_col, Col, p) ;
+
+    /* === Return statistics in stats ======================================= */
+
+    stats [COLAMD_DENSE_ROW] = n_row - n_row2 ;
+    stats [COLAMD_DENSE_COL] = n_col - n_col2 ;
+    stats [COLAMD_DEFRAG_COUNT] = ngarbage ;
+    DEBUG0 (("colamd: done.\n")) ; 
+    return (TRUE) ;
+}
+
+
+/* ========================================================================== */
+/* === colamd_report ======================================================== */
+/* ========================================================================== */
+
+PUBLIC void COLAMD_report
+(
+    Int stats [COLAMD_STATS]
+)
+{
+    print_report ("colamd", stats) ;
+}
+
+
+/* ========================================================================== */
+/* === symamd_report ======================================================== */
+/* ========================================================================== */
+
+PUBLIC void SYMAMD_report
+(
+    Int stats [COLAMD_STATS]
+)
+{
+    print_report ("symamd", stats) ;
+}
+
+
+
+/* ========================================================================== */
+/* === NON-USER-CALLABLE ROUTINES: ========================================== */
+/* ========================================================================== */
+
+/* There are no user-callable routines beyond this point in the file */
+
+
+/* ========================================================================== */
+/* === init_rows_cols ======================================================= */
+/* ========================================================================== */
+
+/*
+    Takes the column form of the matrix in A and creates the row form of the
+    matrix.  Also, row and column attributes are stored in the Col and Row
+    structs.  If the columns are un-sorted or contain duplicate row indices,
+    this routine will also sort and remove duplicate row indices from the
+    column form of the matrix.  Returns FALSE if the matrix is invalid,
+    TRUE otherwise.  Not user-callable.
+*/
+
+PRIVATE Int init_rows_cols	/* returns TRUE if OK, or FALSE otherwise */
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,			/* number of rows of A */
+    Int n_col,			/* number of columns of A */
+    Colamd_Row Row [],		/* of size n_row+1 */
+    Colamd_Col Col [],		/* of size n_col+1 */
+    Int A [],			/* row indices of A, of size Alen */
+    Int p [],			/* pointers to columns in A, of size n_col+1 */
+    Int stats [COLAMD_STATS]	/* colamd statistics */ 
+)
+{
+    /* === Local variables ================================================== */
+
+    Int col ;			/* a column index */
+    Int row ;			/* a row index */
+    Int *cp ;			/* a column pointer */
+    Int *cp_end ;		/* a pointer to the end of a column */
+    Int *rp ;			/* a row pointer */
+    Int *rp_end ;		/* a pointer to the end of a row */
+    Int last_row ;		/* previous row */
+
+    /* === Initialize columns, and check column pointers ==================== */
+
+    for (col = 0 ; col < n_col ; col++)
+    {
+	Col [col].start = p [col] ;
+	Col [col].length = p [col+1] - p [col] ;
+
+	if (Col [col].length < 0)
+	{
+	    /* column pointers must be non-decreasing */
+	    stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ;
+	    stats [COLAMD_INFO1] = col ;
+	    stats [COLAMD_INFO2] = Col [col].length ;
+	    DEBUG0 (("colamd: col %d length %d < 0\n", col, Col [col].length)) ;
+	    return (FALSE) ;
+	}
+
+	Col [col].shared1.thickness = 1 ;
+	Col [col].shared2.score = 0 ;
+	Col [col].shared3.prev = EMPTY ;
+	Col [col].shared4.degree_next = EMPTY ;
+    }
+
+    /* p [0..n_col] no longer needed, used as "head" in subsequent routines */
+
+    /* === Scan columns, compute row degrees, and check row indices ========= */
+
+    stats [COLAMD_INFO3] = 0 ;	/* number of duplicate or unsorted row indices*/
+
+    for (row = 0 ; row < n_row ; row++)
+    {
+	Row [row].length = 0 ;
+	Row [row].shared2.mark = -1 ;
+    }
+
+    for (col = 0 ; col < n_col ; col++)
+    {
+	last_row = -1 ;
+
+	cp = &A [p [col]] ;
+	cp_end = &A [p [col+1]] ;
+
+	while (cp < cp_end)
+	{
+	    row = *cp++ ;
+
+	    /* make sure row indices within range */
+	    if (row < 0 || row >= n_row)
+	    {
+		stats [COLAMD_STATUS] = COLAMD_ERROR_row_index_out_of_bounds ;
+		stats [COLAMD_INFO1] = col ;
+		stats [COLAMD_INFO2] = row ;
+		stats [COLAMD_INFO3] = n_row ;
+		DEBUG0 (("colamd: row %d col %d out of bounds\n", row, col)) ;
+		return (FALSE) ;
+	    }
+
+	    if (row <= last_row || Row [row].shared2.mark == col)
+	    {
+		/* row index are unsorted or repeated (or both), thus col */
+		/* is jumbled.  This is a notice, not an error condition. */
+		stats [COLAMD_STATUS] = COLAMD_OK_BUT_JUMBLED ;
+		stats [COLAMD_INFO1] = col ;
+		stats [COLAMD_INFO2] = row ;
+		(stats [COLAMD_INFO3]) ++ ;
+		DEBUG1 (("colamd: row %d col %d unsorted/duplicate\n",row,col));
+	    }
+
+	    if (Row [row].shared2.mark != col)
+	    {
+		Row [row].length++ ;
+	    }
+	    else
+	    {
+		/* this is a repeated entry in the column, */
+		/* it will be removed */
+		Col [col].length-- ;
+	    }
+
+	    /* mark the row as having been seen in this column */
+	    Row [row].shared2.mark = col ;
+
+	    last_row = row ;
+	}
+    }
+
+    /* === Compute row pointers ============================================= */
+
+    /* row form of the matrix starts directly after the column */
+    /* form of matrix in A */
+    Row [0].start = p [n_col] ;
+    Row [0].shared1.p = Row [0].start ;
+    Row [0].shared2.mark = -1 ;
+    for (row = 1 ; row < n_row ; row++)
+    {
+	Row [row].start = Row [row-1].start + Row [row-1].length ;
+	Row [row].shared1.p = Row [row].start ;
+	Row [row].shared2.mark = -1 ;
+    }
+
+    /* === Create row form ================================================== */
+
+    if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
+    {
+	/* if cols jumbled, watch for repeated row indices */
+	for (col = 0 ; col < n_col ; col++)
+	{
+	    cp = &A [p [col]] ;
+	    cp_end = &A [p [col+1]] ;
+	    while (cp < cp_end)
+	    {
+		row = *cp++ ;
+		if (Row [row].shared2.mark != col)
+		{
+		    A [(Row [row].shared1.p)++] = col ;
+		    Row [row].shared2.mark = col ;
+		}
+	    }
+	}
+    }
+    else
+    {
+	/* if cols not jumbled, we don't need the mark (this is faster) */
+	for (col = 0 ; col < n_col ; col++)
+	{
+	    cp = &A [p [col]] ;
+	    cp_end = &A [p [col+1]] ;
+	    while (cp < cp_end)
+	    {
+		A [(Row [*cp++].shared1.p)++] = col ;
+	    }
+	}
+    }
+
+    /* === Clear the row marks and set row degrees ========================== */
+
+    for (row = 0 ; row < n_row ; row++)
+    {
+	Row [row].shared2.mark = 0 ;
+	Row [row].shared1.degree = Row [row].length ;
+    }
+
+    /* === See if we need to re-create columns ============================== */
+
+    if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
+    {
+    	DEBUG0 (("colamd: reconstructing column form, matrix jumbled\n")) ;
+
+#ifndef NDEBUG
+	/* make sure column lengths are correct */
+	for (col = 0 ; col < n_col ; col++)
+	{
+	    p [col] = Col [col].length ;
+	}
+	for (row = 0 ; row < n_row ; row++)
+	{
+	    rp = &A [Row [row].start] ;
+	    rp_end = rp + Row [row].length ;
+	    while (rp < rp_end)
+	    {
+		p [*rp++]-- ;
+	    }
+	}
+	for (col = 0 ; col < n_col ; col++)
+	{
+	    ASSERT (p [col] == 0) ;
+	}
+	/* now p is all zero (different than when debugging is turned off) */
+#endif /* NDEBUG */
+
+	/* === Compute col pointers ========================================= */
+
+	/* col form of the matrix starts at A [0]. */
+	/* Note, we may have a gap between the col form and the row */
+	/* form if there were duplicate entries, if so, it will be */
+	/* removed upon the first garbage collection */
+	Col [0].start = 0 ;
+	p [0] = Col [0].start ;
+	for (col = 1 ; col < n_col ; col++)
+	{
+	    /* note that the lengths here are for pruned columns, i.e. */
+	    /* no duplicate row indices will exist for these columns */
+	    Col [col].start = Col [col-1].start + Col [col-1].length ;
+	    p [col] = Col [col].start ;
+	}
+
+	/* === Re-create col form =========================================== */
+
+	for (row = 0 ; row < n_row ; row++)
+	{
+	    rp = &A [Row [row].start] ;
+	    rp_end = rp + Row [row].length ;
+	    while (rp < rp_end)
+	    {
+		A [(p [*rp++])++] = row ;
+	    }
+	}
+    }
+
+    /* === Done.  Matrix is not (or no longer) jumbled ====================== */
+
+    return (TRUE) ;
+}
+
+
+/* ========================================================================== */
+/* === init_scoring ========================================================= */
+/* ========================================================================== */
+
+/*
+    Kills dense or empty columns and rows, calculates an initial score for
+    each column, and places all columns in the degree lists.  Not user-callable.
+*/
+
+PRIVATE void init_scoring
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,			/* number of rows of A */
+    Int n_col,			/* number of columns of A */
+    Colamd_Row Row [],		/* of size n_row+1 */
+    Colamd_Col Col [],		/* of size n_col+1 */
+    Int A [],			/* column form and row form of A */
+    Int head [],		/* of size n_col+1 */
+    double knobs [COLAMD_KNOBS],/* parameters */
+    Int *p_n_row2,		/* number of non-dense, non-empty rows */
+    Int *p_n_col2,		/* number of non-dense, non-empty columns */
+    Int *p_max_deg		/* maximum row degree */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int c ;			/* a column index */
+    Int r, row ;		/* a row index */
+    Int *cp ;			/* a column pointer */
+    Int deg ;			/* degree of a row or column */
+    Int *cp_end ;		/* a pointer to the end of a column */
+    Int *new_cp ;		/* new column pointer */
+    Int col_length ;		/* length of pruned column */
+    Int score ;			/* current column score */
+    Int n_col2 ;		/* number of non-dense, non-empty columns */
+    Int n_row2 ;		/* number of non-dense, non-empty rows */
+    Int dense_row_count ;	/* remove rows with more entries than this */
+    Int dense_col_count ;	/* remove cols with more entries than this */
+    Int min_score ;		/* smallest column score */
+    Int max_deg ;		/* maximum row degree */
+    Int next_col ;		/* Used to add to degree list.*/
+
+#ifndef NDEBUG
+    Int debug_count ;		/* debug only. */
+#endif /* NDEBUG */
+
+    /* === Extract knobs ==================================================== */
+
+    /* Note: if knobs contains a NaN, this is undefined: */
+    if (knobs [COLAMD_DENSE_ROW] < 0)
+    {
+	/* only remove completely dense rows */
+	dense_row_count = n_col-1 ;
+    }
+    else
+    {
+	dense_row_count = DENSE_DEGREE (knobs [COLAMD_DENSE_ROW], n_col) ;
+    }
+    if (knobs [COLAMD_DENSE_COL] < 0)
+    {
+	/* only remove completely dense columns */
+	dense_col_count = n_row-1 ;
+    }
+    else
+    {
+	dense_col_count =
+	    DENSE_DEGREE (knobs [COLAMD_DENSE_COL], MIN (n_row, n_col)) ;
+    }
+
+    DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ;
+    max_deg = 0 ;
+    n_col2 = n_col ;
+    n_row2 = n_row ;
+
+    /* === Kill empty columns =============================================== */
+
+    /* Put the empty columns at the end in their natural order, so that LU */
+    /* factorization can proceed as far as possible. */
+    for (c = n_col-1 ; c >= 0 ; c--)
+    {
+	deg = Col [c].length ;
+	if (deg == 0)
+	{
+	    /* this is a empty column, kill and order it last */
+	    Col [c].shared2.order = --n_col2 ;
+	    KILL_PRINCIPAL_COL (c) ;
+	}
+    }
+    DEBUG1 (("colamd: null columns killed: %d\n", n_col - n_col2)) ;
+
+    /* === Kill dense columns =============================================== */
+
+    /* Put the dense columns at the end, in their natural order */
+    for (c = n_col-1 ; c >= 0 ; c--)
+    {
+	/* skip any dead columns */
+	if (COL_IS_DEAD (c))
+	{
+	    continue ;
+	}
+	deg = Col [c].length ;
+	if (deg > dense_col_count)
+	{
+	    /* this is a dense column, kill and order it last */
+	    Col [c].shared2.order = --n_col2 ;
+	    /* decrement the row degrees */
+	    cp = &A [Col [c].start] ;
+	    cp_end = cp + Col [c].length ;
+	    while (cp < cp_end)
+	    {
+		Row [*cp++].shared1.degree-- ;
+	    }
+	    KILL_PRINCIPAL_COL (c) ;
+	}
+    }
+    DEBUG1 (("colamd: Dense and null columns killed: %d\n", n_col - n_col2)) ;
+
+    /* === Kill dense and empty rows ======================================== */
+
+    for (r = 0 ; r < n_row ; r++)
+    {
+	deg = Row [r].shared1.degree ;
+	ASSERT (deg >= 0 && deg <= n_col) ;
+	if (deg > dense_row_count || deg == 0)
+	{
+	    /* kill a dense or empty row */
+	    KILL_ROW (r) ;
+	    --n_row2 ;
+	}
+	else
+	{
+	    /* keep track of max degree of remaining rows */
+	    max_deg = MAX (max_deg, deg) ;
+	}
+    }
+    DEBUG1 (("colamd: Dense and null rows killed: %d\n", n_row - n_row2)) ;
+
+    /* === Compute initial column scores ==================================== */
+
+    /* At this point the row degrees are accurate.  They reflect the number */
+    /* of "live" (non-dense) columns in each row.  No empty rows exist. */
+    /* Some "live" columns may contain only dead rows, however.  These are */
+    /* pruned in the code below. */
+
+    /* now find the initial matlab score for each column */
+    for (c = n_col-1 ; c >= 0 ; c--)
+    {
+	/* skip dead column */
+	if (COL_IS_DEAD (c))
+	{
+	    continue ;
+	}
+	score = 0 ;
+	cp = &A [Col [c].start] ;
+	new_cp = cp ;
+	cp_end = cp + Col [c].length ;
+	while (cp < cp_end)
+	{
+	    /* get a row */
+	    row = *cp++ ;
+	    /* skip if dead */
+	    if (ROW_IS_DEAD (row))
+	    {
+		continue ;
+	    }
+	    /* compact the column */
+	    *new_cp++ = row ;
+	    /* add row's external degree */
+	    score += Row [row].shared1.degree - 1 ;
+	    /* guard against integer overflow */
+	    score = MIN (score, n_col) ;
+	}
+	/* determine pruned column length */
+	col_length = (Int) (new_cp - &A [Col [c].start]) ;
+	if (col_length == 0)
+	{
+	    /* a newly-made null column (all rows in this col are "dense" */
+	    /* and have already been killed) */
+	    DEBUG2 (("Newly null killed: %d\n", c)) ;
+	    Col [c].shared2.order = --n_col2 ;
+	    KILL_PRINCIPAL_COL (c) ;
+	}
+	else
+	{
+	    /* set column length and set score */
+	    ASSERT (score >= 0) ;
+	    ASSERT (score <= n_col) ;
+	    Col [c].length = col_length ;
+	    Col [c].shared2.score = score ;
+	}
+    }
+    DEBUG1 (("colamd: Dense, null, and newly-null columns killed: %d\n",
+    	n_col-n_col2)) ;
+
+    /* At this point, all empty rows and columns are dead.  All live columns */
+    /* are "clean" (containing no dead rows) and simplicial (no supercolumns */
+    /* yet).  Rows may contain dead columns, but all live rows contain at */
+    /* least one live column. */
+
+#ifndef NDEBUG
+    debug_structures (n_row, n_col, Row, Col, A, n_col2) ;
+#endif /* NDEBUG */
+
+    /* === Initialize degree lists ========================================== */
+
+#ifndef NDEBUG
+    debug_count = 0 ;
+#endif /* NDEBUG */
+
+    /* clear the hash buckets */
+    for (c = 0 ; c <= n_col ; c++)
+    {
+	head [c] = EMPTY ;
+    }
+    min_score = n_col ;
+    /* place in reverse order, so low column indices are at the front */
+    /* of the lists.  This is to encourage natural tie-breaking */
+    for (c = n_col-1 ; c >= 0 ; c--)
+    {
+	/* only add principal columns to degree lists */
+	if (COL_IS_ALIVE (c))
+	{
+	    DEBUG4 (("place %d score %d minscore %d ncol %d\n",
+		c, Col [c].shared2.score, min_score, n_col)) ;
+
+	    /* === Add columns score to DList =============================== */
+
+	    score = Col [c].shared2.score ;
+
+	    ASSERT (min_score >= 0) ;
+	    ASSERT (min_score <= n_col) ;
+	    ASSERT (score >= 0) ;
+	    ASSERT (score <= n_col) ;
+	    ASSERT (head [score] >= EMPTY) ;
+
+	    /* now add this column to dList at proper score location */
+	    next_col = head [score] ;
+	    Col [c].shared3.prev = EMPTY ;
+	    Col [c].shared4.degree_next = next_col ;
+
+	    /* if there already was a column with the same score, set its */
+	    /* previous pointer to this new column */
+	    if (next_col != EMPTY)
+	    {
+		Col [next_col].shared3.prev = c ;
+	    }
+	    head [score] = c ;
+
+	    /* see if this score is less than current min */
+	    min_score = MIN (min_score, score) ;
+
+#ifndef NDEBUG
+	    debug_count++ ;
+#endif /* NDEBUG */
+
+	}
+    }
+
+#ifndef NDEBUG
+    DEBUG1 (("colamd: Live cols %d out of %d, non-princ: %d\n",
+	debug_count, n_col, n_col-debug_count)) ;
+    ASSERT (debug_count == n_col2) ;
+    debug_deg_lists (n_row, n_col, Row, Col, head, min_score, n_col2, max_deg) ;
+#endif /* NDEBUG */
+
+    /* === Return number of remaining columns, and max row degree =========== */
+
+    *p_n_col2 = n_col2 ;
+    *p_n_row2 = n_row2 ;
+    *p_max_deg = max_deg ;
+}
+
+
+/* ========================================================================== */
+/* === find_ordering ======================================================== */
+/* ========================================================================== */
+
+/*
+    Order the principal columns of the supercolumn form of the matrix
+    (no supercolumns on input).  Uses a minimum approximate column minimum
+    degree ordering method.  Not user-callable.
+*/
+
+PRIVATE Int find_ordering	/* return the number of garbage collections */
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,			/* number of rows of A */
+    Int n_col,			/* number of columns of A */
+    Int Alen,			/* size of A, 2*nnz + n_col or larger */
+    Colamd_Row Row [],		/* of size n_row+1 */
+    Colamd_Col Col [],		/* of size n_col+1 */
+    Int A [],			/* column form and row form of A */
+    Int head [],		/* of size n_col+1 */
+    Int n_col2,			/* Remaining columns to order */
+    Int max_deg,		/* Maximum row degree */
+    Int pfree,			/* index of first free slot (2*nnz on entry) */
+    Int aggressive
+)
+{
+    /* === Local variables ================================================== */
+
+    Int k ;			/* current pivot ordering step */
+    Int pivot_col ;		/* current pivot column */
+    Int *cp ;			/* a column pointer */
+    Int *rp ;			/* a row pointer */
+    Int pivot_row ;		/* current pivot row */
+    Int *new_cp ;		/* modified column pointer */
+    Int *new_rp ;		/* modified row pointer */
+    Int pivot_row_start ;	/* pointer to start of pivot row */
+    Int pivot_row_degree ;	/* number of columns in pivot row */
+    Int pivot_row_length ;	/* number of supercolumns in pivot row */
+    Int pivot_col_score ;	/* score of pivot column */
+    Int needed_memory ;		/* free space needed for pivot row */
+    Int *cp_end ;		/* pointer to the end of a column */
+    Int *rp_end ;		/* pointer to the end of a row */
+    Int row ;			/* a row index */
+    Int col ;			/* a column index */
+    Int max_score ;		/* maximum possible score */
+    Int cur_score ;		/* score of current column */
+    unsigned Int hash ;		/* hash value for supernode detection */
+    Int head_column ;		/* head of hash bucket */
+    Int first_col ;		/* first column in hash bucket */
+    Int tag_mark ;		/* marker value for mark array */
+    Int row_mark ;		/* Row [row].shared2.mark */
+    Int set_difference ;	/* set difference size of row with pivot row */
+    Int min_score ;		/* smallest column score */
+    Int col_thickness ;		/* "thickness" (no. of columns in a supercol) */
+    Int max_mark ;		/* maximum value of tag_mark */
+    Int pivot_col_thickness ;	/* number of columns represented by pivot col */
+    Int prev_col ;		/* Used by Dlist operations. */
+    Int next_col ;		/* Used by Dlist operations. */
+    Int ngarbage ;		/* number of garbage collections performed */
+
+#ifndef NDEBUG
+    Int debug_d ;		/* debug loop counter */
+    Int debug_step = 0 ;	/* debug loop counter */
+#endif /* NDEBUG */
+
+    /* === Initialization and clear mark ==================================== */
+
+    max_mark = INT_MAX - n_col ;	/* INT_MAX defined in <limits.h> */
+    tag_mark = clear_mark (0, max_mark, n_row, Row) ;
+    min_score = 0 ;
+    ngarbage = 0 ;
+    DEBUG1 (("colamd: Ordering, n_col2=%d\n", n_col2)) ;
+
+    /* === Order the columns ================================================ */
+
+    for (k = 0 ; k < n_col2 ; /* 'k' is incremented below */)
+    {
+
+#ifndef NDEBUG
+	if (debug_step % 100 == 0)
+	{
+	    DEBUG2 (("\n...       Step k: %d out of n_col2: %d\n", k, n_col2)) ;
+	}
+	else
+	{
+	    DEBUG3 (("\n----------Step k: %d out of n_col2: %d\n", k, n_col2)) ;
+	}
+	debug_step++ ;
+	debug_deg_lists (n_row, n_col, Row, Col, head,
+		min_score, n_col2-k, max_deg) ;
+	debug_matrix (n_row, n_col, Row, Col, A) ;
+#endif /* NDEBUG */
+
+	/* === Select pivot column, and order it ============================ */
+
+	/* make sure degree list isn't empty */
+	ASSERT (min_score >= 0) ;
+	ASSERT (min_score <= n_col) ;
+	ASSERT (head [min_score] >= EMPTY) ;
+
+#ifndef NDEBUG
+	for (debug_d = 0 ; debug_d < min_score ; debug_d++)
+	{
+	    ASSERT (head [debug_d] == EMPTY) ;
+	}
+#endif /* NDEBUG */
+
+	/* get pivot column from head of minimum degree list */
+	while (head [min_score] == EMPTY && min_score < n_col)
+	{
+	    min_score++ ;
+	}
+	pivot_col = head [min_score] ;
+	ASSERT (pivot_col >= 0 && pivot_col <= n_col) ;
+	next_col = Col [pivot_col].shared4.degree_next ;
+	head [min_score] = next_col ;
+	if (next_col != EMPTY)
+	{
+	    Col [next_col].shared3.prev = EMPTY ;
+	}
+
+	ASSERT (COL_IS_ALIVE (pivot_col)) ;
+
+	/* remember score for defrag check */
+	pivot_col_score = Col [pivot_col].shared2.score ;
+
+	/* the pivot column is the kth column in the pivot order */
+	Col [pivot_col].shared2.order = k ;
+
+	/* increment order count by column thickness */
+	pivot_col_thickness = Col [pivot_col].shared1.thickness ;
+	k += pivot_col_thickness ;
+	ASSERT (pivot_col_thickness > 0) ;
+	DEBUG3 (("Pivot col: %d thick %d\n", pivot_col, pivot_col_thickness)) ;
+
+	/* === Garbage_collection, if necessary ============================= */
+
+	needed_memory = MIN (pivot_col_score, n_col - k) ;
+	if (pfree + needed_memory >= Alen)
+	{
+	    pfree = garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
+	    ngarbage++ ;
+	    /* after garbage collection we will have enough */
+	    ASSERT (pfree + needed_memory < Alen) ;
+	    /* garbage collection has wiped out the Row[].shared2.mark array */
+	    tag_mark = clear_mark (0, max_mark, n_row, Row) ;
+
+#ifndef NDEBUG
+	    debug_matrix (n_row, n_col, Row, Col, A) ;
+#endif /* NDEBUG */
+	}
+
+	/* === Compute pivot row pattern ==================================== */
+
+	/* get starting location for this new merged row */
+	pivot_row_start = pfree ;
+
+	/* initialize new row counts to zero */
+	pivot_row_degree = 0 ;
+
+	/* tag pivot column as having been visited so it isn't included */
+	/* in merged pivot row */
+	Col [pivot_col].shared1.thickness = -pivot_col_thickness ;
+
+	/* pivot row is the union of all rows in the pivot column pattern */
+	cp = &A [Col [pivot_col].start] ;
+	cp_end = cp + Col [pivot_col].length ;
+	while (cp < cp_end)
+	{
+	    /* get a row */
+	    row = *cp++ ;
+	    DEBUG4 (("Pivot col pattern %d %d\n", ROW_IS_ALIVE (row), row)) ;
+	    /* skip if row is dead */
+	    if (ROW_IS_ALIVE (row))
+	    {
+		rp = &A [Row [row].start] ;
+		rp_end = rp + Row [row].length ;
+		while (rp < rp_end)
+		{
+		    /* get a column */
+		    col = *rp++ ;
+		    /* add the column, if alive and untagged */
+		    col_thickness = Col [col].shared1.thickness ;
+		    if (col_thickness > 0 && COL_IS_ALIVE (col))
+		    {
+			/* tag column in pivot row */
+			Col [col].shared1.thickness = -col_thickness ;
+			ASSERT (pfree < Alen) ;
+			/* place column in pivot row */
+			A [pfree++] = col ;
+			pivot_row_degree += col_thickness ;
+		    }
+		}
+	    }
+	}
+
+	/* clear tag on pivot column */
+	Col [pivot_col].shared1.thickness = pivot_col_thickness ;
+	max_deg = MAX (max_deg, pivot_row_degree) ;
+
+#ifndef NDEBUG
+	DEBUG3 (("check2\n")) ;
+	debug_mark (n_row, Row, tag_mark, max_mark) ;
+#endif /* NDEBUG */
+
+	/* === Kill all rows used to construct pivot row ==================== */
+
+	/* also kill pivot row, temporarily */
+	cp = &A [Col [pivot_col].start] ;
+	cp_end = cp + Col [pivot_col].length ;
+	while (cp < cp_end)
+	{
+	    /* may be killing an already dead row */
+	    row = *cp++ ;
+	    DEBUG3 (("Kill row in pivot col: %d\n", row)) ;
+	    KILL_ROW (row) ;
+	}
+
+	/* === Select a row index to use as the new pivot row =============== */
+
+	pivot_row_length = pfree - pivot_row_start ;
+	if (pivot_row_length > 0)
+	{
+	    /* pick the "pivot" row arbitrarily (first row in col) */
+	    pivot_row = A [Col [pivot_col].start] ;
+	    DEBUG3 (("Pivotal row is %d\n", pivot_row)) ;
+	}
+	else
+	{
+	    /* there is no pivot row, since it is of zero length */
+	    pivot_row = EMPTY ;
+	    ASSERT (pivot_row_length == 0) ;
+	}
+	ASSERT (Col [pivot_col].length > 0 || pivot_row_length == 0) ;
+
+	/* === Approximate degree computation =============================== */
+
+	/* Here begins the computation of the approximate degree.  The column */
+	/* score is the sum of the pivot row "length", plus the size of the */
+	/* set differences of each row in the column minus the pattern of the */
+	/* pivot row itself.  The column ("thickness") itself is also */
+	/* excluded from the column score (we thus use an approximate */
+	/* external degree). */
+
+	/* The time taken by the following code (compute set differences, and */
+	/* add them up) is proportional to the size of the data structure */
+	/* being scanned - that is, the sum of the sizes of each column in */
+	/* the pivot row.  Thus, the amortized time to compute a column score */
+	/* is proportional to the size of that column (where size, in this */
+	/* context, is the column "length", or the number of row indices */
+	/* in that column).  The number of row indices in a column is */
+	/* monotonically non-decreasing, from the length of the original */
+	/* column on input to colamd. */
+
+	/* === Compute set differences ====================================== */
+
+	DEBUG3 (("** Computing set differences phase. **\n")) ;
+
+	/* pivot row is currently dead - it will be revived later. */
+
+	DEBUG3 (("Pivot row: ")) ;
+	/* for each column in pivot row */
+	rp = &A [pivot_row_start] ;
+	rp_end = rp + pivot_row_length ;
+	while (rp < rp_end)
+	{
+	    col = *rp++ ;
+	    ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
+	    DEBUG3 (("Col: %d\n", col)) ;
+
+	    /* clear tags used to construct pivot row pattern */
+	    col_thickness = -Col [col].shared1.thickness ;
+	    ASSERT (col_thickness > 0) ;
+	    Col [col].shared1.thickness = col_thickness ;
+
+	    /* === Remove column from degree list =========================== */
+
+	    cur_score = Col [col].shared2.score ;
+	    prev_col = Col [col].shared3.prev ;
+	    next_col = Col [col].shared4.degree_next ;
+	    ASSERT (cur_score >= 0) ;
+	    ASSERT (cur_score <= n_col) ;
+	    ASSERT (cur_score >= EMPTY) ;
+	    if (prev_col == EMPTY)
+	    {
+		head [cur_score] = next_col ;
+	    }
+	    else
+	    {
+		Col [prev_col].shared4.degree_next = next_col ;
+	    }
+	    if (next_col != EMPTY)
+	    {
+		Col [next_col].shared3.prev = prev_col ;
+	    }
+
+	    /* === Scan the column ========================================== */
+
+	    cp = &A [Col [col].start] ;
+	    cp_end = cp + Col [col].length ;
+	    while (cp < cp_end)
+	    {
+		/* get a row */
+		row = *cp++ ;
+		row_mark = Row [row].shared2.mark ;
+		/* skip if dead */
+		if (ROW_IS_MARKED_DEAD (row_mark))
+		{
+		    continue ;
+		}
+		ASSERT (row != pivot_row) ;
+		set_difference = row_mark - tag_mark ;
+		/* check if the row has been seen yet */
+		if (set_difference < 0)
+		{
+		    ASSERT (Row [row].shared1.degree <= max_deg) ;
+		    set_difference = Row [row].shared1.degree ;
+		}
+		/* subtract column thickness from this row's set difference */
+		set_difference -= col_thickness ;
+		ASSERT (set_difference >= 0) ;
+		/* absorb this row if the set difference becomes zero */
+		if (set_difference == 0 && aggressive)
+		{
+		    DEBUG3 (("aggressive absorption. Row: %d\n", row)) ;
+		    KILL_ROW (row) ;
+		}
+		else
+		{
+		    /* save the new mark */
+		    Row [row].shared2.mark = set_difference + tag_mark ;
+		}
+	    }
+	}
+
+#ifndef NDEBUG
+	debug_deg_lists (n_row, n_col, Row, Col, head,
+		min_score, n_col2-k-pivot_row_degree, max_deg) ;
+#endif /* NDEBUG */
+
+	/* === Add up set differences for each column ======================= */
+
+	DEBUG3 (("** Adding set differences phase. **\n")) ;
+
+	/* for each column in pivot row */
+	rp = &A [pivot_row_start] ;
+	rp_end = rp + pivot_row_length ;
+	while (rp < rp_end)
+	{
+	    /* get a column */
+	    col = *rp++ ;
+	    ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
+	    hash = 0 ;
+	    cur_score = 0 ;
+	    cp = &A [Col [col].start] ;
+	    /* compact the column */
+	    new_cp = cp ;
+	    cp_end = cp + Col [col].length ;
+
+	    DEBUG4 (("Adding set diffs for Col: %d.\n", col)) ;
+
+	    while (cp < cp_end)
+	    {
+		/* get a row */
+		row = *cp++ ;
+		ASSERT(row >= 0 && row < n_row) ;
+		row_mark = Row [row].shared2.mark ;
+		/* skip if dead */
+		if (ROW_IS_MARKED_DEAD (row_mark))
+		{
+		    DEBUG4 ((" Row %d, dead\n", row)) ;
+		    continue ;
+		}
+		DEBUG4 ((" Row %d, set diff %d\n", row, row_mark-tag_mark));
+		ASSERT (row_mark >= tag_mark) ;
+		/* compact the column */
+		*new_cp++ = row ;
+		/* compute hash function */
+		hash += row ;
+		/* add set difference */
+		cur_score += row_mark - tag_mark ;
+		/* integer overflow... */
+		cur_score = MIN (cur_score, n_col) ;
+	    }
+
+	    /* recompute the column's length */
+	    Col [col].length = (Int) (new_cp - &A [Col [col].start]) ;
+
+	    /* === Further mass elimination ================================= */
+
+	    if (Col [col].length == 0)
+	    {
+		DEBUG4 (("further mass elimination. Col: %d\n", col)) ;
+		/* nothing left but the pivot row in this column */
+		KILL_PRINCIPAL_COL (col) ;
+		pivot_row_degree -= Col [col].shared1.thickness ;
+		ASSERT (pivot_row_degree >= 0) ;
+		/* order it */
+		Col [col].shared2.order = k ;
+		/* increment order count by column thickness */
+		k += Col [col].shared1.thickness ;
+	    }
+	    else
+	    {
+		/* === Prepare for supercolumn detection ==================== */
+
+		DEBUG4 (("Preparing supercol detection for Col: %d.\n", col)) ;
+
+		/* save score so far */
+		Col [col].shared2.score = cur_score ;
+
+		/* add column to hash table, for supercolumn detection */
+		hash %= n_col + 1 ;
+
+		DEBUG4 ((" Hash = %d, n_col = %d.\n", hash, n_col)) ;
+		ASSERT (((Int) hash) <= n_col) ;
+
+		head_column = head [hash] ;
+		if (head_column > EMPTY)
+		{
+		    /* degree list "hash" is non-empty, use prev (shared3) of */
+		    /* first column in degree list as head of hash bucket */
+		    first_col = Col [head_column].shared3.headhash ;
+		    Col [head_column].shared3.headhash = col ;
+		}
+		else
+		{
+		    /* degree list "hash" is empty, use head as hash bucket */
+		    first_col = - (head_column + 2) ;
+		    head [hash] = - (col + 2) ;
+		}
+		Col [col].shared4.hash_next = first_col ;
+
+		/* save hash function in Col [col].shared3.hash */
+		Col [col].shared3.hash = (Int) hash ;
+		ASSERT (COL_IS_ALIVE (col)) ;
+	    }
+	}
+
+	/* The approximate external column degree is now computed.  */
+
+	/* === Supercolumn detection ======================================== */
+
+	DEBUG3 (("** Supercolumn detection phase. **\n")) ;
+
+	detect_super_cols (
+
+#ifndef NDEBUG
+		n_col, Row,
+#endif /* NDEBUG */
+
+		Col, A, head, pivot_row_start, pivot_row_length) ;
+
+	/* === Kill the pivotal column ====================================== */
+
+	KILL_PRINCIPAL_COL (pivot_col) ;
+
+	/* === Clear mark =================================================== */
+
+	tag_mark = clear_mark (tag_mark+max_deg+1, max_mark, n_row, Row) ;
+
+#ifndef NDEBUG
+	DEBUG3 (("check3\n")) ;
+	debug_mark (n_row, Row, tag_mark, max_mark) ;
+#endif /* NDEBUG */
+
+	/* === Finalize the new pivot row, and column scores ================ */
+
+	DEBUG3 (("** Finalize scores phase. **\n")) ;
+
+	/* for each column in pivot row */
+	rp = &A [pivot_row_start] ;
+	/* compact the pivot row */
+	new_rp = rp ;
+	rp_end = rp + pivot_row_length ;
+	while (rp < rp_end)
+	{
+	    col = *rp++ ;
+	    /* skip dead columns */
+	    if (COL_IS_DEAD (col))
+	    {
+		continue ;
+	    }
+	    *new_rp++ = col ;
+	    /* add new pivot row to column */
+	    A [Col [col].start + (Col [col].length++)] = pivot_row ;
+
+	    /* retrieve score so far and add on pivot row's degree. */
+	    /* (we wait until here for this in case the pivot */
+	    /* row's degree was reduced due to mass elimination). */
+	    cur_score = Col [col].shared2.score + pivot_row_degree ;
+
+	    /* calculate the max possible score as the number of */
+	    /* external columns minus the 'k' value minus the */
+	    /* columns thickness */
+	    max_score = n_col - k - Col [col].shared1.thickness ;
+
+	    /* make the score the external degree of the union-of-rows */
+	    cur_score -= Col [col].shared1.thickness ;
+
+	    /* make sure score is less or equal than the max score */
+	    cur_score = MIN (cur_score, max_score) ;
+	    ASSERT (cur_score >= 0) ;
+
+	    /* store updated score */
+	    Col [col].shared2.score = cur_score ;
+
+	    /* === Place column back in degree list ========================= */
+
+	    ASSERT (min_score >= 0) ;
+	    ASSERT (min_score <= n_col) ;
+	    ASSERT (cur_score >= 0) ;
+	    ASSERT (cur_score <= n_col) ;
+	    ASSERT (head [cur_score] >= EMPTY) ;
+	    next_col = head [cur_score] ;
+	    Col [col].shared4.degree_next = next_col ;
+	    Col [col].shared3.prev = EMPTY ;
+	    if (next_col != EMPTY)
+	    {
+		Col [next_col].shared3.prev = col ;
+	    }
+	    head [cur_score] = col ;
+
+	    /* see if this score is less than current min */
+	    min_score = MIN (min_score, cur_score) ;
+
+	}
+
+#ifndef NDEBUG
+	debug_deg_lists (n_row, n_col, Row, Col, head,
+		min_score, n_col2-k, max_deg) ;
+#endif /* NDEBUG */
+
+	/* === Resurrect the new pivot row ================================== */
+
+	if (pivot_row_degree > 0)
+	{
+	    /* update pivot row length to reflect any cols that were killed */
+	    /* during super-col detection and mass elimination */
+	    Row [pivot_row].start  = pivot_row_start ;
+	    Row [pivot_row].length = (Int) (new_rp - &A[pivot_row_start]) ;
+	    ASSERT (Row [pivot_row].length > 0) ;
+	    Row [pivot_row].shared1.degree = pivot_row_degree ;
+	    Row [pivot_row].shared2.mark = 0 ;
+	    /* pivot row is no longer dead */
+
+	    DEBUG1 (("Resurrect Pivot_row %d deg: %d\n",
+			pivot_row, pivot_row_degree)) ;
+	}
+    }
+
+    /* === All principal columns have now been ordered ====================== */
+
+    return (ngarbage) ;
+}
+
+
+/* ========================================================================== */
+/* === order_children ======================================================= */
+/* ========================================================================== */
+
+/*
+    The find_ordering routine has ordered all of the principal columns (the
+    representatives of the supercolumns).  The non-principal columns have not
+    yet been ordered.  This routine orders those columns by walking up the
+    parent tree (a column is a child of the column which absorbed it).  The
+    final permutation vector is then placed in p [0 ... n_col-1], with p [0]
+    being the first column, and p [n_col-1] being the last.  It doesn't look
+    like it at first glance, but be assured that this routine takes time linear
+    in the number of columns.  Although not immediately obvious, the time
+    taken by this routine is O (n_col), that is, linear in the number of
+    columns.  Not user-callable.
+*/
+
+PRIVATE void order_children
+(
+    /* === Parameters ======================================================= */
+
+    Int n_col,			/* number of columns of A */
+    Colamd_Col Col [],		/* of size n_col+1 */
+    Int p []			/* p [0 ... n_col-1] is the column permutation*/
+)
+{
+    /* === Local variables ================================================== */
+
+    Int i ;			/* loop counter for all columns */
+    Int c ;			/* column index */
+    Int parent ;		/* index of column's parent */
+    Int order ;			/* column's order */
+
+    /* === Order each non-principal column ================================== */
+
+    for (i = 0 ; i < n_col ; i++)
+    {
+	/* find an un-ordered non-principal column */
+	ASSERT (COL_IS_DEAD (i)) ;
+	if (!COL_IS_DEAD_PRINCIPAL (i) && Col [i].shared2.order == EMPTY)
+	{
+	    parent = i ;
+	    /* once found, find its principal parent */
+	    do
+	    {
+		parent = Col [parent].shared1.parent ;
+	    } while (!COL_IS_DEAD_PRINCIPAL (parent)) ;
+
+	    /* now, order all un-ordered non-principal columns along path */
+	    /* to this parent.  collapse tree at the same time */
+	    c = i ;
+	    /* get order of parent */
+	    order = Col [parent].shared2.order ;
+
+	    do
+	    {
+		ASSERT (Col [c].shared2.order == EMPTY) ;
+
+		/* order this column */
+		Col [c].shared2.order = order++ ;
+		/* collaps tree */
+		Col [c].shared1.parent = parent ;
+
+		/* get immediate parent of this column */
+		c = Col [c].shared1.parent ;
+
+		/* continue until we hit an ordered column.  There are */
+		/* guarranteed not to be anymore unordered columns */
+		/* above an ordered column */
+	    } while (Col [c].shared2.order == EMPTY) ;
+
+	    /* re-order the super_col parent to largest order for this group */
+	    Col [parent].shared2.order = order ;
+	}
+    }
+
+    /* === Generate the permutation ========================================= */
+
+    for (c = 0 ; c < n_col ; c++)
+    {
+	p [Col [c].shared2.order] = c ;
+    }
+}
+
+
+/* ========================================================================== */
+/* === detect_super_cols ==================================================== */
+/* ========================================================================== */
+
+/*
+    Detects supercolumns by finding matches between columns in the hash buckets.
+    Check amongst columns in the set A [row_start ... row_start + row_length-1].
+    The columns under consideration are currently *not* in the degree lists,
+    and have already been placed in the hash buckets.
+
+    The hash bucket for columns whose hash function is equal to h is stored
+    as follows:
+
+	if head [h] is >= 0, then head [h] contains a degree list, so:
+
+		head [h] is the first column in degree bucket h.
+		Col [head [h]].headhash gives the first column in hash bucket h.
+
+	otherwise, the degree list is empty, and:
+
+		-(head [h] + 2) is the first column in hash bucket h.
+
+    For a column c in a hash bucket, Col [c].shared3.prev is NOT a "previous
+    column" pointer.  Col [c].shared3.hash is used instead as the hash number
+    for that column.  The value of Col [c].shared4.hash_next is the next column
+    in the same hash bucket.
+
+    Assuming no, or "few" hash collisions, the time taken by this routine is
+    linear in the sum of the sizes (lengths) of each column whose score has
+    just been computed in the approximate degree computation.
+    Not user-callable.
+*/
+
+PRIVATE void detect_super_cols
+(
+    /* === Parameters ======================================================= */
+
+#ifndef NDEBUG
+    /* these two parameters are only needed when debugging is enabled: */
+    Int n_col,			/* number of columns of A */
+    Colamd_Row Row [],		/* of size n_row+1 */
+#endif /* NDEBUG */
+
+    Colamd_Col Col [],		/* of size n_col+1 */
+    Int A [],			/* row indices of A */
+    Int head [],		/* head of degree lists and hash buckets */
+    Int row_start,		/* pointer to set of columns to check */
+    Int row_length		/* number of columns to check */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int hash ;			/* hash value for a column */
+    Int *rp ;			/* pointer to a row */
+    Int c ;			/* a column index */
+    Int super_c ;		/* column index of the column to absorb into */
+    Int *cp1 ;			/* column pointer for column super_c */
+    Int *cp2 ;			/* column pointer for column c */
+    Int length ;		/* length of column super_c */
+    Int prev_c ;		/* column preceding c in hash bucket */
+    Int i ;			/* loop counter */
+    Int *rp_end ;		/* pointer to the end of the row */
+    Int col ;			/* a column index in the row to check */
+    Int head_column ;		/* first column in hash bucket or degree list */
+    Int first_col ;		/* first column in hash bucket */
+
+    /* === Consider each column in the row ================================== */
+
+    rp = &A [row_start] ;
+    rp_end = rp + row_length ;
+    while (rp < rp_end)
+    {
+	col = *rp++ ;
+	if (COL_IS_DEAD (col))
+	{
+	    continue ;
+	}
+
+	/* get hash number for this column */
+	hash = Col [col].shared3.hash ;
+	ASSERT (hash <= n_col) ;
+
+	/* === Get the first column in this hash bucket ===================== */
+
+	head_column = head [hash] ;
+	if (head_column > EMPTY)
+	{
+	    first_col = Col [head_column].shared3.headhash ;
+	}
+	else
+	{
+	    first_col = - (head_column + 2) ;
+	}
+
+	/* === Consider each column in the hash bucket ====================== */
+
+	for (super_c = first_col ; super_c != EMPTY ;
+	    super_c = Col [super_c].shared4.hash_next)
+	{
+	    ASSERT (COL_IS_ALIVE (super_c)) ;
+	    ASSERT (Col [super_c].shared3.hash == hash) ;
+	    length = Col [super_c].length ;
+
+	    /* prev_c is the column preceding column c in the hash bucket */
+	    prev_c = super_c ;
+
+	    /* === Compare super_c with all columns after it ================ */
+
+	    for (c = Col [super_c].shared4.hash_next ;
+		 c != EMPTY ; c = Col [c].shared4.hash_next)
+	    {
+		ASSERT (c != super_c) ;
+		ASSERT (COL_IS_ALIVE (c)) ;
+		ASSERT (Col [c].shared3.hash == hash) ;
+
+		/* not identical if lengths or scores are different */
+		if (Col [c].length != length ||
+		    Col [c].shared2.score != Col [super_c].shared2.score)
+		{
+		    prev_c = c ;
+		    continue ;
+		}
+
+		/* compare the two columns */
+		cp1 = &A [Col [super_c].start] ;
+		cp2 = &A [Col [c].start] ;
+
+		for (i = 0 ; i < length ; i++)
+		{
+		    /* the columns are "clean" (no dead rows) */
+		    ASSERT (ROW_IS_ALIVE (*cp1))  ;
+		    ASSERT (ROW_IS_ALIVE (*cp2))  ;
+		    /* row indices will same order for both supercols, */
+		    /* no gather scatter nessasary */
+		    if (*cp1++ != *cp2++)
+		    {
+			break ;
+		    }
+		}
+
+		/* the two columns are different if the for-loop "broke" */
+		if (i != length)
+		{
+		    prev_c = c ;
+		    continue ;
+		}
+
+		/* === Got it!  two columns are identical =================== */
+
+		ASSERT (Col [c].shared2.score == Col [super_c].shared2.score) ;
+
+		Col [super_c].shared1.thickness += Col [c].shared1.thickness ;
+		Col [c].shared1.parent = super_c ;
+		KILL_NON_PRINCIPAL_COL (c) ;
+		/* order c later, in order_children() */
+		Col [c].shared2.order = EMPTY ;
+		/* remove c from hash bucket */
+		Col [prev_c].shared4.hash_next = Col [c].shared4.hash_next ;
+	    }
+	}
+
+	/* === Empty this hash bucket ======================================= */
+
+	if (head_column > EMPTY)
+	{
+	    /* corresponding degree list "hash" is not empty */
+	    Col [head_column].shared3.headhash = EMPTY ;
+	}
+	else
+	{
+	    /* corresponding degree list "hash" is empty */
+	    head [hash] = EMPTY ;
+	}
+    }
+}
+
+
+/* ========================================================================== */
+/* === garbage_collection =================================================== */
+/* ========================================================================== */
+
+/*
+    Defragments and compacts columns and rows in the workspace A.  Used when
+    all avaliable memory has been used while performing row merging.  Returns
+    the index of the first free position in A, after garbage collection.  The
+    time taken by this routine is linear is the size of the array A, which is
+    itself linear in the number of nonzeros in the input matrix.
+    Not user-callable.
+*/
+
+PRIVATE Int garbage_collection  /* returns the new value of pfree */
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,			/* number of rows */
+    Int n_col,			/* number of columns */
+    Colamd_Row Row [],		/* row info */
+    Colamd_Col Col [],		/* column info */
+    Int A [],			/* A [0 ... Alen-1] holds the matrix */
+    Int *pfree			/* &A [0] ... pfree is in use */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int *psrc ;			/* source pointer */
+    Int *pdest ;		/* destination pointer */
+    Int j ;			/* counter */
+    Int r ;			/* a row index */
+    Int c ;			/* a column index */
+    Int length ;		/* length of a row or column */
+
+#ifndef NDEBUG
+    Int debug_rows ;
+    DEBUG2 (("Defrag..\n")) ;
+    for (psrc = &A[0] ; psrc < pfree ; psrc++) ASSERT (*psrc >= 0) ;
+    debug_rows = 0 ;
+#endif /* NDEBUG */
+
+    /* === Defragment the columns =========================================== */
+
+    pdest = &A[0] ;
+    for (c = 0 ; c < n_col ; c++)
+    {
+	if (COL_IS_ALIVE (c))
+	{
+	    psrc = &A [Col [c].start] ;
+
+	    /* move and compact the column */
+	    ASSERT (pdest <= psrc) ;
+	    Col [c].start = (Int) (pdest - &A [0]) ;
+	    length = Col [c].length ;
+	    for (j = 0 ; j < length ; j++)
+	    {
+		r = *psrc++ ;
+		if (ROW_IS_ALIVE (r))
+		{
+		    *pdest++ = r ;
+		}
+	    }
+	    Col [c].length = (Int) (pdest - &A [Col [c].start]) ;
+	}
+    }
+
+    /* === Prepare to defragment the rows =================================== */
+
+    for (r = 0 ; r < n_row ; r++)
+    {
+	if (ROW_IS_DEAD (r) || (Row [r].length == 0))
+	{
+	    /* This row is already dead, or is of zero length.  Cannot compact
+	     * a row of zero length, so kill it.  NOTE: in the current version,
+	     * there are no zero-length live rows.  Kill the row (for the first
+	     * time, or again) just to be safe. */
+	    KILL_ROW (r) ;
+	}
+	else
+	{
+	    /* save first column index in Row [r].shared2.first_column */
+	    psrc = &A [Row [r].start] ;
+	    Row [r].shared2.first_column = *psrc ;
+	    ASSERT (ROW_IS_ALIVE (r)) ;
+	    /* flag the start of the row with the one's complement of row */
+	    *psrc = ONES_COMPLEMENT (r) ;
+#ifndef NDEBUG
+	    debug_rows++ ;
+#endif /* NDEBUG */
+	}
+    }
+
+    /* === Defragment the rows ============================================== */
+
+    psrc = pdest ;
+    while (psrc < pfree)
+    {
+	/* find a negative number ... the start of a row */
+	if (*psrc++ < 0)
+	{
+	    psrc-- ;
+	    /* get the row index */
+	    r = ONES_COMPLEMENT (*psrc) ;
+	    ASSERT (r >= 0 && r < n_row) ;
+	    /* restore first column index */
+	    *psrc = Row [r].shared2.first_column ;
+	    ASSERT (ROW_IS_ALIVE (r)) ;
+	    ASSERT (Row [r].length > 0) ;
+	    /* move and compact the row */
+	    ASSERT (pdest <= psrc) ;
+	    Row [r].start = (Int) (pdest - &A [0]) ;
+	    length = Row [r].length ;
+	    for (j = 0 ; j < length ; j++)
+	    {
+		c = *psrc++ ;
+		if (COL_IS_ALIVE (c))
+		{
+		    *pdest++ = c ;
+		}
+	    }
+	    Row [r].length = (Int) (pdest - &A [Row [r].start]) ;
+	    ASSERT (Row [r].length > 0) ;
+#ifndef NDEBUG
+	    debug_rows-- ;
+#endif /* NDEBUG */
+	}
+    }
+    /* ensure we found all the rows */
+    ASSERT (debug_rows == 0) ;
+
+    /* === Return the new value of pfree ==================================== */
+
+    return ((Int) (pdest - &A [0])) ;
+}
+
+
+/* ========================================================================== */
+/* === clear_mark =========================================================== */
+/* ========================================================================== */
+
+/*
+    Clears the Row [].shared2.mark array, and returns the new tag_mark.
+    Return value is the new tag_mark.  Not user-callable.
+*/
+
+PRIVATE Int clear_mark	/* return the new value for tag_mark */
+(
+    /* === Parameters ======================================================= */
+
+    Int tag_mark,	/* new value of tag_mark */
+    Int max_mark,	/* max allowed value of tag_mark */
+
+    Int n_row,		/* number of rows in A */
+    Colamd_Row Row []	/* Row [0 ... n_row-1].shared2.mark is set to zero */
+)
+{
+    /* === Local variables ================================================== */
+
+    Int r ;
+
+    if (tag_mark <= 0 || tag_mark >= max_mark)
+    {
+	for (r = 0 ; r < n_row ; r++)
+	{
+	    if (ROW_IS_ALIVE (r))
+	    {
+		Row [r].shared2.mark = 0 ;
+	    }
+	}
+	tag_mark = 1 ;
+    }
+
+    return (tag_mark) ;
+}
+
+
+/* ========================================================================== */
+/* === print_report ========================================================= */
+/* ========================================================================== */
+
+PRIVATE void print_report
+(
+    char *method,
+    Int stats [COLAMD_STATS]
+)
+{
+
+    Int i1, i2, i3 ;
+
+    PRINTF (("\n%s version %d.%d, %s: ", method,
+	    COLAMD_MAIN_VERSION, COLAMD_SUB_VERSION, COLAMD_DATE)) ;
+
+    if (!stats)
+    {
+    	PRINTF (("No statistics available.\n")) ;
+	return ;
+    }
+
+    i1 = stats [COLAMD_INFO1] ;
+    i2 = stats [COLAMD_INFO2] ;
+    i3 = stats [COLAMD_INFO3] ;
+
+    if (stats [COLAMD_STATUS] >= 0)
+    {
+    	PRINTF (("OK.  ")) ;
+    }
+    else
+    {
+    	PRINTF (("ERROR.  ")) ;
+    }
+
+    switch (stats [COLAMD_STATUS])
+    {
+
+	case COLAMD_OK_BUT_JUMBLED:
+
+	    PRINTF(("Matrix has unsorted or duplicate row indices.\n")) ;
+
+	    PRINTF(("%s: number of duplicate or out-of-order row indices: %d\n",
+	    method, i3)) ;
+
+	    PRINTF(("%s: last seen duplicate or out-of-order row index:   %d\n",
+	    method, INDEX (i2))) ;
+
+	    PRINTF(("%s: last seen in column:                             %d",
+	    method, INDEX (i1))) ;
+
+	    /* no break - fall through to next case instead */
+
+	case COLAMD_OK:
+
+	    PRINTF(("\n")) ;
+
+ 	    PRINTF(("%s: number of dense or empty rows ignored:           %d\n",
+	    method, stats [COLAMD_DENSE_ROW])) ;
+
+	    PRINTF(("%s: number of dense or empty columns ignored:        %d\n",
+	    method, stats [COLAMD_DENSE_COL])) ;
+
+	    PRINTF(("%s: number of garbage collections performed:         %d\n",
+	    method, stats [COLAMD_DEFRAG_COUNT])) ;
+	    break ;
+
+	case COLAMD_ERROR_A_not_present:
+
+	    PRINTF(("Array A (row indices of matrix) not present.\n")) ;
+	    break ;
+
+	case COLAMD_ERROR_p_not_present:
+
+	    PRINTF(("Array p (column pointers for matrix) not present.\n")) ;
+	    break ;
+
+	case COLAMD_ERROR_nrow_negative:
+
+	    PRINTF(("Invalid number of rows (%d).\n", i1)) ;
+	    break ;
+
+	case COLAMD_ERROR_ncol_negative:
+
+	    PRINTF(("Invalid number of columns (%d).\n", i1)) ;
+	    break ;
+
+	case COLAMD_ERROR_nnz_negative:
+
+	    PRINTF(("Invalid number of nonzero entries (%d).\n", i1)) ;
+	    break ;
+
+	case COLAMD_ERROR_p0_nonzero:
+
+	    PRINTF(("Invalid column pointer, p [0] = %d, must be zero.\n", i1));
+	    break ;
+
+	case COLAMD_ERROR_A_too_small:
+
+	    PRINTF(("Array A too small.\n")) ;
+	    PRINTF(("        Need Alen >= %d, but given only Alen = %d.\n",
+	    i1, i2)) ;
+	    break ;
+
+	case COLAMD_ERROR_col_length_negative:
+
+	    PRINTF
+	    (("Column %d has a negative number of nonzero entries (%d).\n",
+	    INDEX (i1), i2)) ;
+	    break ;
+
+	case COLAMD_ERROR_row_index_out_of_bounds:
+
+	    PRINTF
+	    (("Row index (row %d) out of bounds (%d to %d) in column %d.\n",
+	    INDEX (i2), INDEX (0), INDEX (i3-1), INDEX (i1))) ;
+	    break ;
+
+	case COLAMD_ERROR_out_of_memory:
+
+	    PRINTF(("Out of memory.\n")) ;
+	    break ;
+
+	/* v2.4: internal-error case deleted */
+    }
+}
+
+
+
+
+/* ========================================================================== */
+/* === colamd debugging routines ============================================ */
+/* ========================================================================== */
+
+/* When debugging is disabled, the remainder of this file is ignored. */
+
+#ifndef NDEBUG
+
+
+/* ========================================================================== */
+/* === debug_structures ===================================================== */
+/* ========================================================================== */
+
+/*
+    At this point, all empty rows and columns are dead.  All live columns
+    are "clean" (containing no dead rows) and simplicial (no supercolumns
+    yet).  Rows may contain dead columns, but all live rows contain at
+    least one live column.
+*/
+
+PRIVATE void debug_structures
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A [],
+    Int n_col2
+)
+{
+    /* === Local variables ================================================== */
+
+    Int i ;
+    Int c ;
+    Int *cp ;
+    Int *cp_end ;
+    Int len ;
+    Int score ;
+    Int r ;
+    Int *rp ;
+    Int *rp_end ;
+    Int deg ;
+
+    /* === Check A, Row, and Col ============================================ */
+
+    for (c = 0 ; c < n_col ; c++)
+    {
+	if (COL_IS_ALIVE (c))
+	{
+	    len = Col [c].length ;
+	    score = Col [c].shared2.score ;
+	    DEBUG4 (("initial live col %5d %5d %5d\n", c, len, score)) ;
+	    ASSERT (len > 0) ;
+	    ASSERT (score >= 0) ;
+	    ASSERT (Col [c].shared1.thickness == 1) ;
+	    cp = &A [Col [c].start] ;
+	    cp_end = cp + len ;
+	    while (cp < cp_end)
+	    {
+		r = *cp++ ;
+		ASSERT (ROW_IS_ALIVE (r)) ;
+	    }
+	}
+	else
+	{
+	    i = Col [c].shared2.order ;
+	    ASSERT (i >= n_col2 && i < n_col) ;
+	}
+    }
+
+    for (r = 0 ; r < n_row ; r++)
+    {
+	if (ROW_IS_ALIVE (r))
+	{
+	    i = 0 ;
+	    len = Row [r].length ;
+	    deg = Row [r].shared1.degree ;
+	    ASSERT (len > 0) ;
+	    ASSERT (deg > 0) ;
+	    rp = &A [Row [r].start] ;
+	    rp_end = rp + len ;
+	    while (rp < rp_end)
+	    {
+		c = *rp++ ;
+		if (COL_IS_ALIVE (c))
+		{
+		    i++ ;
+		}
+	    }
+	    ASSERT (i > 0) ;
+	}
+    }
+}
+
+
+/* ========================================================================== */
+/* === debug_deg_lists ====================================================== */
+/* ========================================================================== */
+
+/*
+    Prints the contents of the degree lists.  Counts the number of columns
+    in the degree list and compares it to the total it should have.  Also
+    checks the row degrees.
+*/
+
+PRIVATE void debug_deg_lists
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int head [],
+    Int min_score,
+    Int should,
+    Int max_deg
+)
+{
+    /* === Local variables ================================================== */
+
+    Int deg ;
+    Int col ;
+    Int have ;
+    Int row ;
+
+    /* === Check the degree lists =========================================== */
+
+    if (n_col > 10000 && colamd_debug <= 0)
+    {
+	return ;
+    }
+    have = 0 ;
+    DEBUG4 (("Degree lists: %d\n", min_score)) ;
+    for (deg = 0 ; deg <= n_col ; deg++)
+    {
+	col = head [deg] ;
+	if (col == EMPTY)
+	{
+	    continue ;
+	}
+	DEBUG4 (("%d:", deg)) ;
+	while (col != EMPTY)
+	{
+	    DEBUG4 ((" %d", col)) ;
+	    have += Col [col].shared1.thickness ;
+	    ASSERT (COL_IS_ALIVE (col)) ;
+	    col = Col [col].shared4.degree_next ;
+	}
+	DEBUG4 (("\n")) ;
+    }
+    DEBUG4 (("should %d have %d\n", should, have)) ;
+    ASSERT (should == have) ;
+
+    /* === Check the row degrees ============================================ */
+
+    if (n_row > 10000 && colamd_debug <= 0)
+    {
+	return ;
+    }
+    for (row = 0 ; row < n_row ; row++)
+    {
+	if (ROW_IS_ALIVE (row))
+	{
+	    ASSERT (Row [row].shared1.degree <= max_deg) ;
+	}
+    }
+}
+
+
+/* ========================================================================== */
+/* === debug_mark =========================================================== */
+/* ========================================================================== */
+
+/*
+    Ensures that the tag_mark is less that the maximum and also ensures that
+    each entry in the mark array is less than the tag mark.
+*/
+
+PRIVATE void debug_mark
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,
+    Colamd_Row Row [],
+    Int tag_mark,
+    Int max_mark
+)
+{
+    /* === Local variables ================================================== */
+
+    Int r ;
+
+    /* === Check the Row marks ============================================== */
+
+    ASSERT (tag_mark > 0 && tag_mark <= max_mark) ;
+    if (n_row > 10000 && colamd_debug <= 0)
+    {
+	return ;
+    }
+    for (r = 0 ; r < n_row ; r++)
+    {
+	ASSERT (Row [r].shared2.mark < tag_mark) ;
+    }
+}
+
+
+/* ========================================================================== */
+/* === debug_matrix ========================================================= */
+/* ========================================================================== */
+
+/*
+    Prints out the contents of the columns and the rows.
+*/
+
+PRIVATE void debug_matrix
+(
+    /* === Parameters ======================================================= */
+
+    Int n_row,
+    Int n_col,
+    Colamd_Row Row [],
+    Colamd_Col Col [],
+    Int A []
+)
+{
+    /* === Local variables ================================================== */
+
+    Int r ;
+    Int c ;
+    Int *rp ;
+    Int *rp_end ;
+    Int *cp ;
+    Int *cp_end ;
+
+    /* === Dump the rows and columns of the matrix ========================== */
+
+    if (colamd_debug < 3)
+    {
+	return ;
+    }
+    DEBUG3 (("DUMP MATRIX:\n")) ;
+    for (r = 0 ; r < n_row ; r++)
+    {
+	DEBUG3 (("Row %d alive? %d\n", r, ROW_IS_ALIVE (r))) ;
+	if (ROW_IS_DEAD (r))
+	{
+	    continue ;
+	}
+	DEBUG3 (("start %d length %d degree %d\n",
+		Row [r].start, Row [r].length, Row [r].shared1.degree)) ;
+	rp = &A [Row [r].start] ;
+	rp_end = rp + Row [r].length ;
+	while (rp < rp_end)
+	{
+	    c = *rp++ ;
+	    DEBUG4 (("	%d col %d\n", COL_IS_ALIVE (c), c)) ;
+	}
+    }
+
+    for (c = 0 ; c < n_col ; c++)
+    {
+	DEBUG3 (("Col %d alive? %d\n", c, COL_IS_ALIVE (c))) ;
+	if (COL_IS_DEAD (c))
+	{
+	    continue ;
+	}
+	DEBUG3 (("start %d length %d shared1 %d shared2 %d\n",
+		Col [c].start, Col [c].length,
+		Col [c].shared1.thickness, Col [c].shared2.score)) ;
+	cp = &A [Col [c].start] ;
+	cp_end = cp + Col [c].length ;
+	while (cp < cp_end)
+	{
+	    r = *cp++ ;
+	    DEBUG4 (("	%d row %d\n", ROW_IS_ALIVE (r), r)) ;
+	}
+    }
+}
+
+PRIVATE void colamd_get_debug
+(
+    char *method
+)
+{
+    FILE *f ;
+    colamd_debug = 0 ;		/* no debug printing */
+    f = fopen ("debug", "r") ;
+    if (f == (FILE *) NULL)
+    {
+	colamd_debug = 0 ;
+    }
+    else
+    {
+	fscanf (f, "%d", &colamd_debug) ;
+	fclose (f) ;
+    }
+    DEBUG0 (("%s: debug version, D = %d (THIS WILL BE SLOW!)\n",
+    	method, colamd_debug)) ;
+}
+
+#endif /* NDEBUG */
diff --git a/extern/colamd/Source/colamd_global.c b/extern/colamd/Source/colamd_global.c
new file mode 100644
index 00000000000..4d1ae22300c
--- /dev/null
+++ b/extern/colamd/Source/colamd_global.c
@@ -0,0 +1,24 @@
+/* ========================================================================== */
+/* === colamd_global.c ====================================================== */
+/* ========================================================================== */
+
+/* ----------------------------------------------------------------------------
+ * COLAMD, Copyright (C) 2007, Timothy A. Davis.
+ * See License.txt for the Version 2.1 of the GNU Lesser General Public License
+ * http://www.cise.ufl.edu/research/sparse
+ * -------------------------------------------------------------------------- */
+
+/* Global variables for COLAMD */
+
+#ifndef NPRINT
+#ifdef MATLAB_MEX_FILE
+#include "mex.h"
+int (*colamd_printf) (const char *, ...) = mexPrintf ;
+#else
+#include <stdio.h>
+int (*colamd_printf) (const char *, ...) = printf ;
+#endif
+#else
+int (*colamd_printf) (const char *, ...) = ((void *) 0) ;
+#endif
+
diff --git a/extern/glew/CMakeLists.txt b/extern/glew/CMakeLists.txt
index 87f8bb6e940..9704c137f8b 100644
--- a/extern/glew/CMakeLists.txt
+++ b/extern/glew/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/libopenjpeg/CMakeLists.txt b/extern/libopenjpeg/CMakeLists.txt
index 6f5056b341a..8b79394c053 100644
--- a/extern/libopenjpeg/CMakeLists.txt
+++ b/extern/libopenjpeg/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 14444 2008-04-16 22:40:48Z hos $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/libredcode/CMakeLists.txt b/extern/libredcode/CMakeLists.txt
index 1c4daac42d1..02e219fa871 100644
--- a/extern/libredcode/CMakeLists.txt
+++ b/extern/libredcode/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/lzma/CMakeLists.txt b/extern/lzma/CMakeLists.txt
index bfb52591e08..89993d61491 100644
--- a/extern/lzma/CMakeLists.txt
+++ b/extern/lzma/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/lzo/CMakeLists.txt b/extern/lzo/CMakeLists.txt
index 11eb18520b6..75b3605f75b 100644
--- a/extern/lzo/CMakeLists.txt
+++ b/extern/lzo/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/recastnavigation/CMakeLists.txt b/extern/recastnavigation/CMakeLists.txt
index 3d8b7ab1513..05c62936dc0 100644
--- a/extern/recastnavigation/CMakeLists.txt
+++ b/extern/recastnavigation/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/extern/recastnavigation/recast-capi.cpp b/extern/recastnavigation/recast-capi.cpp
index 42a9a4b82c8..9aeb0d65cb0 100644
--- a/extern/recastnavigation/recast-capi.cpp
+++ b/extern/recastnavigation/recast-capi.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/extern/recastnavigation/recast-capi.h b/extern/recastnavigation/recast-capi.h
index e8831bcdc58..52a8e215ea1 100644
--- a/extern/recastnavigation/recast-capi.h
+++ b/extern/recastnavigation/recast-capi.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/CMakeLists.txt b/intern/CMakeLists.txt
index fe30d6cfa0c..7a663ec9335 100644
--- a/intern/CMakeLists.txt
+++ b/intern/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/audaspace/CMakeLists.txt b/intern/audaspace/CMakeLists.txt
index e321673b07d..0c4df1ce392 100644
--- a/intern/audaspace/CMakeLists.txt
+++ b/intern/audaspace/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN LGPL LICENSE BLOCK *****
 #
 # Copyright 2009 Jrg Hermann Mller
diff --git a/intern/audaspace/FX/AUD_AccumulatorFactory.cpp b/intern/audaspace/FX/AUD_AccumulatorFactory.cpp
index 0dffa7fc9ea..1862b9ab79d 100644
--- a/intern/audaspace/FX/AUD_AccumulatorFactory.cpp
+++ b/intern/audaspace/FX/AUD_AccumulatorFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_AccumulatorFactory.h b/intern/audaspace/FX/AUD_AccumulatorFactory.h
index 95246ef5341..d49d8f71c05 100644
--- a/intern/audaspace/FX/AUD_AccumulatorFactory.h
+++ b/intern/audaspace/FX/AUD_AccumulatorFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_BaseIIRFilterReader.cpp b/intern/audaspace/FX/AUD_BaseIIRFilterReader.cpp
index 29ff6d90080..fa9e8746b2b 100644
--- a/intern/audaspace/FX/AUD_BaseIIRFilterReader.cpp
+++ b/intern/audaspace/FX/AUD_BaseIIRFilterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_BaseIIRFilterReader.h b/intern/audaspace/FX/AUD_BaseIIRFilterReader.h
index 6bf877d66da..5b37f83ddee 100644
--- a/intern/audaspace/FX/AUD_BaseIIRFilterReader.h
+++ b/intern/audaspace/FX/AUD_BaseIIRFilterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ButterworthFactory.cpp b/intern/audaspace/FX/AUD_ButterworthFactory.cpp
index 4b45512ffa6..5edca302ece 100644
--- a/intern/audaspace/FX/AUD_ButterworthFactory.cpp
+++ b/intern/audaspace/FX/AUD_ButterworthFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ButterworthFactory.h b/intern/audaspace/FX/AUD_ButterworthFactory.h
index 12d28eb4038..aa302e7e82a 100644
--- a/intern/audaspace/FX/AUD_ButterworthFactory.h
+++ b/intern/audaspace/FX/AUD_ButterworthFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_CallbackIIRFilterReader.cpp b/intern/audaspace/FX/AUD_CallbackIIRFilterReader.cpp
index e6c83322435..1a5c99adfb9 100644
--- a/intern/audaspace/FX/AUD_CallbackIIRFilterReader.cpp
+++ b/intern/audaspace/FX/AUD_CallbackIIRFilterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_CallbackIIRFilterReader.h b/intern/audaspace/FX/AUD_CallbackIIRFilterReader.h
index 6d53edeecc2..787fd49b600 100644
--- a/intern/audaspace/FX/AUD_CallbackIIRFilterReader.h
+++ b/intern/audaspace/FX/AUD_CallbackIIRFilterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DelayFactory.cpp b/intern/audaspace/FX/AUD_DelayFactory.cpp
index e452870281d..a4606597933 100644
--- a/intern/audaspace/FX/AUD_DelayFactory.cpp
+++ b/intern/audaspace/FX/AUD_DelayFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DelayFactory.h b/intern/audaspace/FX/AUD_DelayFactory.h
index 5ab7f850d2f..c1b114638f6 100644
--- a/intern/audaspace/FX/AUD_DelayFactory.h
+++ b/intern/audaspace/FX/AUD_DelayFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DelayReader.cpp b/intern/audaspace/FX/AUD_DelayReader.cpp
index 7d58b3dae4f..903e043af01 100644
--- a/intern/audaspace/FX/AUD_DelayReader.cpp
+++ b/intern/audaspace/FX/AUD_DelayReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DelayReader.h b/intern/audaspace/FX/AUD_DelayReader.h
index 128e589eede..b23bb1438d1 100644
--- a/intern/audaspace/FX/AUD_DelayReader.h
+++ b/intern/audaspace/FX/AUD_DelayReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DoubleFactory.cpp b/intern/audaspace/FX/AUD_DoubleFactory.cpp
index e1e6ba50435..ab0111f8955 100644
--- a/intern/audaspace/FX/AUD_DoubleFactory.cpp
+++ b/intern/audaspace/FX/AUD_DoubleFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DoubleFactory.h b/intern/audaspace/FX/AUD_DoubleFactory.h
index 2db2257244c..990c605b2fb 100644
--- a/intern/audaspace/FX/AUD_DoubleFactory.h
+++ b/intern/audaspace/FX/AUD_DoubleFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DoubleReader.cpp b/intern/audaspace/FX/AUD_DoubleReader.cpp
index 3b1d105954c..2b28bc7d679 100644
--- a/intern/audaspace/FX/AUD_DoubleReader.cpp
+++ b/intern/audaspace/FX/AUD_DoubleReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DoubleReader.h b/intern/audaspace/FX/AUD_DoubleReader.h
index 750868a9400..4c82d4f85ca 100644
--- a/intern/audaspace/FX/AUD_DoubleReader.h
+++ b/intern/audaspace/FX/AUD_DoubleReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.cpp b/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.cpp
index 3018a2df571..3d6beb6c554 100644
--- a/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.cpp
+++ b/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.h b/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.h
index 56d56a977d4..2b63e275f0e 100644
--- a/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.h
+++ b/intern/audaspace/FX/AUD_DynamicIIRFilterFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DynamicIIRFilterReader.cpp b/intern/audaspace/FX/AUD_DynamicIIRFilterReader.cpp
index f1edccb22fb..24332ebfc1a 100644
--- a/intern/audaspace/FX/AUD_DynamicIIRFilterReader.cpp
+++ b/intern/audaspace/FX/AUD_DynamicIIRFilterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_DynamicIIRFilterReader.h b/intern/audaspace/FX/AUD_DynamicIIRFilterReader.h
index 42789726728..843cf120011 100644
--- a/intern/audaspace/FX/AUD_DynamicIIRFilterReader.h
+++ b/intern/audaspace/FX/AUD_DynamicIIRFilterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EffectFactory.cpp b/intern/audaspace/FX/AUD_EffectFactory.cpp
index 6173ffb5a97..d35f8affec8 100644
--- a/intern/audaspace/FX/AUD_EffectFactory.cpp
+++ b/intern/audaspace/FX/AUD_EffectFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EffectFactory.h b/intern/audaspace/FX/AUD_EffectFactory.h
index 72fdb3f0833..26d66634d7d 100644
--- a/intern/audaspace/FX/AUD_EffectFactory.h
+++ b/intern/audaspace/FX/AUD_EffectFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EffectReader.cpp b/intern/audaspace/FX/AUD_EffectReader.cpp
index 4d14af76438..6c08549e744 100644
--- a/intern/audaspace/FX/AUD_EffectReader.cpp
+++ b/intern/audaspace/FX/AUD_EffectReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EffectReader.h b/intern/audaspace/FX/AUD_EffectReader.h
index c03abd11828..707031c55ad 100644
--- a/intern/audaspace/FX/AUD_EffectReader.h
+++ b/intern/audaspace/FX/AUD_EffectReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EnvelopeFactory.cpp b/intern/audaspace/FX/AUD_EnvelopeFactory.cpp
index 80df7e9f874..c7176662659 100644
--- a/intern/audaspace/FX/AUD_EnvelopeFactory.cpp
+++ b/intern/audaspace/FX/AUD_EnvelopeFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_EnvelopeFactory.h b/intern/audaspace/FX/AUD_EnvelopeFactory.h
index a480a05d478..81038f15560 100644
--- a/intern/audaspace/FX/AUD_EnvelopeFactory.h
+++ b/intern/audaspace/FX/AUD_EnvelopeFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_FaderFactory.cpp b/intern/audaspace/FX/AUD_FaderFactory.cpp
index 635873e0ee5..ec119ef9388 100644
--- a/intern/audaspace/FX/AUD_FaderFactory.cpp
+++ b/intern/audaspace/FX/AUD_FaderFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_FaderFactory.h b/intern/audaspace/FX/AUD_FaderFactory.h
index d8314c77ed4..7a8954d9e48 100644
--- a/intern/audaspace/FX/AUD_FaderFactory.h
+++ b/intern/audaspace/FX/AUD_FaderFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_FaderReader.cpp b/intern/audaspace/FX/AUD_FaderReader.cpp
index 4a6050cf0f3..4ece91ca899 100644
--- a/intern/audaspace/FX/AUD_FaderReader.cpp
+++ b/intern/audaspace/FX/AUD_FaderReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_FaderReader.h b/intern/audaspace/FX/AUD_FaderReader.h
index e702ac0ec19..9cad72618ef 100644
--- a/intern/audaspace/FX/AUD_FaderReader.h
+++ b/intern/audaspace/FX/AUD_FaderReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_HighpassFactory.cpp b/intern/audaspace/FX/AUD_HighpassFactory.cpp
index 399ec5ca406..41070842596 100644
--- a/intern/audaspace/FX/AUD_HighpassFactory.cpp
+++ b/intern/audaspace/FX/AUD_HighpassFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_HighpassFactory.h b/intern/audaspace/FX/AUD_HighpassFactory.h
index c135be27d77..c9d8a0b017a 100644
--- a/intern/audaspace/FX/AUD_HighpassFactory.h
+++ b/intern/audaspace/FX/AUD_HighpassFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_IIRFilterFactory.cpp b/intern/audaspace/FX/AUD_IIRFilterFactory.cpp
index f6ccda6f67e..807b0ef4899 100644
--- a/intern/audaspace/FX/AUD_IIRFilterFactory.cpp
+++ b/intern/audaspace/FX/AUD_IIRFilterFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_IIRFilterFactory.h b/intern/audaspace/FX/AUD_IIRFilterFactory.h
index 0e92ab1a568..0b98f34f748 100644
--- a/intern/audaspace/FX/AUD_IIRFilterFactory.h
+++ b/intern/audaspace/FX/AUD_IIRFilterFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_IIRFilterReader.cpp b/intern/audaspace/FX/AUD_IIRFilterReader.cpp
index 90f7e1e3cb0..06880818692 100644
--- a/intern/audaspace/FX/AUD_IIRFilterReader.cpp
+++ b/intern/audaspace/FX/AUD_IIRFilterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_IIRFilterReader.h b/intern/audaspace/FX/AUD_IIRFilterReader.h
index 41de67d4d27..01a41385715 100644
--- a/intern/audaspace/FX/AUD_IIRFilterReader.h
+++ b/intern/audaspace/FX/AUD_IIRFilterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LimiterFactory.cpp b/intern/audaspace/FX/AUD_LimiterFactory.cpp
index 8d1dd14f3ae..e58657d8d70 100644
--- a/intern/audaspace/FX/AUD_LimiterFactory.cpp
+++ b/intern/audaspace/FX/AUD_LimiterFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LimiterFactory.h b/intern/audaspace/FX/AUD_LimiterFactory.h
index c04bfe861b2..7128c6d7334 100644
--- a/intern/audaspace/FX/AUD_LimiterFactory.h
+++ b/intern/audaspace/FX/AUD_LimiterFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LimiterReader.cpp b/intern/audaspace/FX/AUD_LimiterReader.cpp
index dc31477d2eb..0abf496c7f9 100644
--- a/intern/audaspace/FX/AUD_LimiterReader.cpp
+++ b/intern/audaspace/FX/AUD_LimiterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LimiterReader.h b/intern/audaspace/FX/AUD_LimiterReader.h
index 9cddd4d57ec..7a2c88e5144 100644
--- a/intern/audaspace/FX/AUD_LimiterReader.h
+++ b/intern/audaspace/FX/AUD_LimiterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LoopFactory.cpp b/intern/audaspace/FX/AUD_LoopFactory.cpp
index fd39ac901c1..32c9e6bad7f 100644
--- a/intern/audaspace/FX/AUD_LoopFactory.cpp
+++ b/intern/audaspace/FX/AUD_LoopFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LoopFactory.h b/intern/audaspace/FX/AUD_LoopFactory.h
index 03c00dc40ce..7d794f313fb 100644
--- a/intern/audaspace/FX/AUD_LoopFactory.h
+++ b/intern/audaspace/FX/AUD_LoopFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LoopReader.cpp b/intern/audaspace/FX/AUD_LoopReader.cpp
index de67a445ab2..863f66f9f46 100644
--- a/intern/audaspace/FX/AUD_LoopReader.cpp
+++ b/intern/audaspace/FX/AUD_LoopReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LoopReader.h b/intern/audaspace/FX/AUD_LoopReader.h
index 5ccf7e543a0..b062a1781a4 100644
--- a/intern/audaspace/FX/AUD_LoopReader.h
+++ b/intern/audaspace/FX/AUD_LoopReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LowpassFactory.cpp b/intern/audaspace/FX/AUD_LowpassFactory.cpp
index 3ef25c3c16e..14dbc951c7f 100644
--- a/intern/audaspace/FX/AUD_LowpassFactory.cpp
+++ b/intern/audaspace/FX/AUD_LowpassFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_LowpassFactory.h b/intern/audaspace/FX/AUD_LowpassFactory.h
index 644d25ec73d..90d6ac5c2d1 100644
--- a/intern/audaspace/FX/AUD_LowpassFactory.h
+++ b/intern/audaspace/FX/AUD_LowpassFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PingPongFactory.cpp b/intern/audaspace/FX/AUD_PingPongFactory.cpp
index e5f2193ea56..3d5011cf47b 100644
--- a/intern/audaspace/FX/AUD_PingPongFactory.cpp
+++ b/intern/audaspace/FX/AUD_PingPongFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PingPongFactory.h b/intern/audaspace/FX/AUD_PingPongFactory.h
index b023501d45b..4a5f3fcf431 100644
--- a/intern/audaspace/FX/AUD_PingPongFactory.h
+++ b/intern/audaspace/FX/AUD_PingPongFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PitchFactory.cpp b/intern/audaspace/FX/AUD_PitchFactory.cpp
index e52028754e9..c6e9ae0b457 100644
--- a/intern/audaspace/FX/AUD_PitchFactory.cpp
+++ b/intern/audaspace/FX/AUD_PitchFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PitchFactory.h b/intern/audaspace/FX/AUD_PitchFactory.h
index 2642d41af89..c311a9e3446 100644
--- a/intern/audaspace/FX/AUD_PitchFactory.h
+++ b/intern/audaspace/FX/AUD_PitchFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PitchReader.cpp b/intern/audaspace/FX/AUD_PitchReader.cpp
index 81dd6e4355c..0d1ff012e73 100644
--- a/intern/audaspace/FX/AUD_PitchReader.cpp
+++ b/intern/audaspace/FX/AUD_PitchReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_PitchReader.h b/intern/audaspace/FX/AUD_PitchReader.h
index ed6adbf02fb..dcd23b747fa 100644
--- a/intern/audaspace/FX/AUD_PitchReader.h
+++ b/intern/audaspace/FX/AUD_PitchReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_RectifyFactory.cpp b/intern/audaspace/FX/AUD_RectifyFactory.cpp
index cbb676a9a32..ad01f404698 100644
--- a/intern/audaspace/FX/AUD_RectifyFactory.cpp
+++ b/intern/audaspace/FX/AUD_RectifyFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_RectifyFactory.h b/intern/audaspace/FX/AUD_RectifyFactory.h
index 16b44469c05..2e3dbd17917 100644
--- a/intern/audaspace/FX/AUD_RectifyFactory.h
+++ b/intern/audaspace/FX/AUD_RectifyFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ReverseFactory.cpp b/intern/audaspace/FX/AUD_ReverseFactory.cpp
index 060a618dd68..063cbc88180 100644
--- a/intern/audaspace/FX/AUD_ReverseFactory.cpp
+++ b/intern/audaspace/FX/AUD_ReverseFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ReverseFactory.h b/intern/audaspace/FX/AUD_ReverseFactory.h
index f43d37d8f46..6305fb5d2af 100644
--- a/intern/audaspace/FX/AUD_ReverseFactory.h
+++ b/intern/audaspace/FX/AUD_ReverseFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ReverseReader.cpp b/intern/audaspace/FX/AUD_ReverseReader.cpp
index 73f6830f3fa..6b454c66d25 100644
--- a/intern/audaspace/FX/AUD_ReverseReader.cpp
+++ b/intern/audaspace/FX/AUD_ReverseReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_ReverseReader.h b/intern/audaspace/FX/AUD_ReverseReader.h
index 197d10dfe00..1b3dfd7e53f 100644
--- a/intern/audaspace/FX/AUD_ReverseReader.h
+++ b/intern/audaspace/FX/AUD_ReverseReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SquareFactory.cpp b/intern/audaspace/FX/AUD_SquareFactory.cpp
index 226085a1814..7aabdb775f6 100644
--- a/intern/audaspace/FX/AUD_SquareFactory.cpp
+++ b/intern/audaspace/FX/AUD_SquareFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SquareFactory.h b/intern/audaspace/FX/AUD_SquareFactory.h
index 21284361cca..aff24b0f3d9 100644
--- a/intern/audaspace/FX/AUD_SquareFactory.h
+++ b/intern/audaspace/FX/AUD_SquareFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SumFactory.cpp b/intern/audaspace/FX/AUD_SumFactory.cpp
index befcc30360f..b58c44b0171 100644
--- a/intern/audaspace/FX/AUD_SumFactory.cpp
+++ b/intern/audaspace/FX/AUD_SumFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SumFactory.h b/intern/audaspace/FX/AUD_SumFactory.h
index cdb4caf6e49..c971730258a 100644
--- a/intern/audaspace/FX/AUD_SumFactory.h
+++ b/intern/audaspace/FX/AUD_SumFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SuperposeFactory.cpp b/intern/audaspace/FX/AUD_SuperposeFactory.cpp
index d514bfd8fca..30c57198c73 100644
--- a/intern/audaspace/FX/AUD_SuperposeFactory.cpp
+++ b/intern/audaspace/FX/AUD_SuperposeFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SuperposeFactory.h b/intern/audaspace/FX/AUD_SuperposeFactory.h
index b12da62b497..adfb1c23e1d 100644
--- a/intern/audaspace/FX/AUD_SuperposeFactory.h
+++ b/intern/audaspace/FX/AUD_SuperposeFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SuperposeReader.cpp b/intern/audaspace/FX/AUD_SuperposeReader.cpp
index c07b7a9febf..535d3590a8f 100644
--- a/intern/audaspace/FX/AUD_SuperposeReader.cpp
+++ b/intern/audaspace/FX/AUD_SuperposeReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_SuperposeReader.h b/intern/audaspace/FX/AUD_SuperposeReader.h
index 07b4b105835..8a1b2698f9c 100644
--- a/intern/audaspace/FX/AUD_SuperposeReader.h
+++ b/intern/audaspace/FX/AUD_SuperposeReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_VolumeFactory.cpp b/intern/audaspace/FX/AUD_VolumeFactory.cpp
index 17cefd4f3c3..f5e635eec2d 100644
--- a/intern/audaspace/FX/AUD_VolumeFactory.cpp
+++ b/intern/audaspace/FX/AUD_VolumeFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/FX/AUD_VolumeFactory.h b/intern/audaspace/FX/AUD_VolumeFactory.h
index 0ca0102b790..ecfab6f7299 100644
--- a/intern/audaspace/FX/AUD_VolumeFactory.h
+++ b/intern/audaspace/FX/AUD_VolumeFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp b/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp
index d5b365fa62f..c3f3f46d188 100644
--- a/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp
+++ b/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/OpenAL/AUD_OpenALDevice.h b/intern/audaspace/OpenAL/AUD_OpenALDevice.h
index a04b483132a..ff1361c283f 100644
--- a/intern/audaspace/OpenAL/AUD_OpenALDevice.h
+++ b/intern/audaspace/OpenAL/AUD_OpenALDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/Python/AUD_PyAPI.cpp b/intern/audaspace/Python/AUD_PyAPI.cpp
index 3ec088053ca..0dfa39de66c 100644
--- a/intern/audaspace/Python/AUD_PyAPI.cpp
+++ b/intern/audaspace/Python/AUD_PyAPI.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/Python/AUD_PyAPI.h b/intern/audaspace/Python/AUD_PyAPI.h
index e234ad4dded..bcd9e42ede1 100644
--- a/intern/audaspace/Python/AUD_PyAPI.h
+++ b/intern/audaspace/Python/AUD_PyAPI.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SDL/AUD_SDLDevice.cpp b/intern/audaspace/SDL/AUD_SDLDevice.cpp
index 91313f36fbb..0be8db91d28 100644
--- a/intern/audaspace/SDL/AUD_SDLDevice.cpp
+++ b/intern/audaspace/SDL/AUD_SDLDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SDL/AUD_SDLDevice.h b/intern/audaspace/SDL/AUD_SDLDevice.h
index aeea8d0e5d2..d77d5835086 100644
--- a/intern/audaspace/SDL/AUD_SDLDevice.h
+++ b/intern/audaspace/SDL/AUD_SDLDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp b/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp
index c4402e88c65..6861e878abc 100644
--- a/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp
+++ b/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SRC/AUD_SRCResampleFactory.h b/intern/audaspace/SRC/AUD_SRCResampleFactory.h
index 685dbc0b176..d061cf9e12b 100644
--- a/intern/audaspace/SRC/AUD_SRCResampleFactory.h
+++ b/intern/audaspace/SRC/AUD_SRCResampleFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SRC/AUD_SRCResampleReader.cpp b/intern/audaspace/SRC/AUD_SRCResampleReader.cpp
index a72d8ba393b..242a7135aff 100644
--- a/intern/audaspace/SRC/AUD_SRCResampleReader.cpp
+++ b/intern/audaspace/SRC/AUD_SRCResampleReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/SRC/AUD_SRCResampleReader.h b/intern/audaspace/SRC/AUD_SRCResampleReader.h
index dddfeb6a452..26f02be9003 100644
--- a/intern/audaspace/SRC/AUD_SRCResampleReader.h
+++ b/intern/audaspace/SRC/AUD_SRCResampleReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp
index e9d045bd303..c4c384f054c 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h
index 18510d8db8b..9d79a5fad23 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp
index 1683a9a61c0..0c550ce3b60 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h
index a83477b50d6..9a19131efe0 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.cpp b/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.cpp
index 197671ee37a..702c366c4df 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.cpp
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.h b/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.h
index 92460eed7ca..60200ce363d 100644
--- a/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.h
+++ b/intern/audaspace/ffmpeg/AUD_FFMPEGWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/fftw/AUD_BandPassFactory.cpp b/intern/audaspace/fftw/AUD_BandPassFactory.cpp
index 51de4126a3b..1e6538d80de 100644
--- a/intern/audaspace/fftw/AUD_BandPassFactory.cpp
+++ b/intern/audaspace/fftw/AUD_BandPassFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/fftw/AUD_BandPassFactory.h b/intern/audaspace/fftw/AUD_BandPassFactory.h
index b8acbb22841..4891947ec3c 100644
--- a/intern/audaspace/fftw/AUD_BandPassFactory.h
+++ b/intern/audaspace/fftw/AUD_BandPassFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/fftw/AUD_BandPassReader.cpp b/intern/audaspace/fftw/AUD_BandPassReader.cpp
index 22c65b18d76..7e181fb499d 100644
--- a/intern/audaspace/fftw/AUD_BandPassReader.cpp
+++ b/intern/audaspace/fftw/AUD_BandPassReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/fftw/AUD_BandPassReader.h b/intern/audaspace/fftw/AUD_BandPassReader.h
index 397ace5466a..155b8d7b0bc 100644
--- a/intern/audaspace/fftw/AUD_BandPassReader.h
+++ b/intern/audaspace/fftw/AUD_BandPassReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_3DMath.h b/intern/audaspace/intern/AUD_3DMath.h
index eb16dcf2d50..18594842108 100644
--- a/intern/audaspace/intern/AUD_3DMath.h
+++ b/intern/audaspace/intern/AUD_3DMath.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_AnimateableProperty.cpp b/intern/audaspace/intern/AUD_AnimateableProperty.cpp
index 98d5b4cb6e1..8a5c538c094 100644
--- a/intern/audaspace/intern/AUD_AnimateableProperty.cpp
+++ b/intern/audaspace/intern/AUD_AnimateableProperty.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_AnimateableProperty.h b/intern/audaspace/intern/AUD_AnimateableProperty.h
index dd6b585741e..5b516384a8f 100644
--- a/intern/audaspace/intern/AUD_AnimateableProperty.h
+++ b/intern/audaspace/intern/AUD_AnimateableProperty.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Buffer.cpp b/intern/audaspace/intern/AUD_Buffer.cpp
index 43955b54988..b7157f672b4 100644
--- a/intern/audaspace/intern/AUD_Buffer.cpp
+++ b/intern/audaspace/intern/AUD_Buffer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Buffer.h b/intern/audaspace/intern/AUD_Buffer.h
index 4a37bc17464..7a30d3b02d8 100644
--- a/intern/audaspace/intern/AUD_Buffer.h
+++ b/intern/audaspace/intern/AUD_Buffer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_BufferReader.cpp b/intern/audaspace/intern/AUD_BufferReader.cpp
index 99a99069378..dbff70095ad 100644
--- a/intern/audaspace/intern/AUD_BufferReader.cpp
+++ b/intern/audaspace/intern/AUD_BufferReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_BufferReader.h b/intern/audaspace/intern/AUD_BufferReader.h
index 5ba6c503855..f648baef30d 100644
--- a/intern/audaspace/intern/AUD_BufferReader.h
+++ b/intern/audaspace/intern/AUD_BufferReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_C-API.cpp b/intern/audaspace/intern/AUD_C-API.cpp
index 66e3a0ed7e9..7455e24cdc0 100644
--- a/intern/audaspace/intern/AUD_C-API.cpp
+++ b/intern/audaspace/intern/AUD_C-API.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_C-API.h b/intern/audaspace/intern/AUD_C-API.h
index 612f98a79c3..c7b8cb77771 100644
--- a/intern/audaspace/intern/AUD_C-API.h
+++ b/intern/audaspace/intern/AUD_C-API.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp b/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp
index ea6c738cb58..7743ccf46da 100644
--- a/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp
+++ b/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ChannelMapperFactory.h b/intern/audaspace/intern/AUD_ChannelMapperFactory.h
index 9e1adf09ca9..4c88cb85080 100644
--- a/intern/audaspace/intern/AUD_ChannelMapperFactory.h
+++ b/intern/audaspace/intern/AUD_ChannelMapperFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ChannelMapperReader.cpp b/intern/audaspace/intern/AUD_ChannelMapperReader.cpp
index 7764164a9b0..61796098bf7 100644
--- a/intern/audaspace/intern/AUD_ChannelMapperReader.cpp
+++ b/intern/audaspace/intern/AUD_ChannelMapperReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ChannelMapperReader.h b/intern/audaspace/intern/AUD_ChannelMapperReader.h
index af16f2ff49d..8e3ff0d1e9a 100644
--- a/intern/audaspace/intern/AUD_ChannelMapperReader.h
+++ b/intern/audaspace/intern/AUD_ChannelMapperReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterFactory.cpp b/intern/audaspace/intern/AUD_ConverterFactory.cpp
index bf9a3586616..b61f9bc194c 100644
--- a/intern/audaspace/intern/AUD_ConverterFactory.cpp
+++ b/intern/audaspace/intern/AUD_ConverterFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterFactory.h b/intern/audaspace/intern/AUD_ConverterFactory.h
index 128653c5c54..04dfe9e12d1 100644
--- a/intern/audaspace/intern/AUD_ConverterFactory.h
+++ b/intern/audaspace/intern/AUD_ConverterFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterFunctions.cpp b/intern/audaspace/intern/AUD_ConverterFunctions.cpp
index f7be2ca805f..53a644e3b90 100644
--- a/intern/audaspace/intern/AUD_ConverterFunctions.cpp
+++ b/intern/audaspace/intern/AUD_ConverterFunctions.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterFunctions.h b/intern/audaspace/intern/AUD_ConverterFunctions.h
index 0946833bded..35a8012ccd1 100644
--- a/intern/audaspace/intern/AUD_ConverterFunctions.h
+++ b/intern/audaspace/intern/AUD_ConverterFunctions.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterReader.cpp b/intern/audaspace/intern/AUD_ConverterReader.cpp
index 7665f276c0a..14bb46f3b38 100644
--- a/intern/audaspace/intern/AUD_ConverterReader.cpp
+++ b/intern/audaspace/intern/AUD_ConverterReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ConverterReader.h b/intern/audaspace/intern/AUD_ConverterReader.h
index 4a637becbb5..984666453e8 100644
--- a/intern/audaspace/intern/AUD_ConverterReader.h
+++ b/intern/audaspace/intern/AUD_ConverterReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_FileFactory.cpp b/intern/audaspace/intern/AUD_FileFactory.cpp
index aeb49e10884..a27acff19cf 100644
--- a/intern/audaspace/intern/AUD_FileFactory.cpp
+++ b/intern/audaspace/intern/AUD_FileFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_FileFactory.h b/intern/audaspace/intern/AUD_FileFactory.h
index 4bd6f1de61e..b39db27476b 100644
--- a/intern/audaspace/intern/AUD_FileFactory.h
+++ b/intern/audaspace/intern/AUD_FileFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_FileWriter.cpp b/intern/audaspace/intern/AUD_FileWriter.cpp
index a5ef592ea17..df76b667e3f 100644
--- a/intern/audaspace/intern/AUD_FileWriter.cpp
+++ b/intern/audaspace/intern/AUD_FileWriter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_FileWriter.h b/intern/audaspace/intern/AUD_FileWriter.h
index 341728ff836..9ff083e247f 100644
--- a/intern/audaspace/intern/AUD_FileWriter.h
+++ b/intern/audaspace/intern/AUD_FileWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_I3DDevice.h b/intern/audaspace/intern/AUD_I3DDevice.h
index 036f7b1fa94..68052627842 100644
--- a/intern/audaspace/intern/AUD_I3DDevice.h
+++ b/intern/audaspace/intern/AUD_I3DDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_I3DHandle.h b/intern/audaspace/intern/AUD_I3DHandle.h
index 8ef08b18f94..78be55db82c 100644
--- a/intern/audaspace/intern/AUD_I3DHandle.h
+++ b/intern/audaspace/intern/AUD_I3DHandle.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_IDevice.h b/intern/audaspace/intern/AUD_IDevice.h
index 108e7505d84..28765e9144c 100644
--- a/intern/audaspace/intern/AUD_IDevice.h
+++ b/intern/audaspace/intern/AUD_IDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_IFactory.h b/intern/audaspace/intern/AUD_IFactory.h
index 7d652268af3..a19a5775dc9 100644
--- a/intern/audaspace/intern/AUD_IFactory.h
+++ b/intern/audaspace/intern/AUD_IFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_IHandle.h b/intern/audaspace/intern/AUD_IHandle.h
index 5b8695131e4..33c64f509c2 100644
--- a/intern/audaspace/intern/AUD_IHandle.h
+++ b/intern/audaspace/intern/AUD_IHandle.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_IReader.h b/intern/audaspace/intern/AUD_IReader.h
index 5fc2cd62fb2..2c92e75163e 100644
--- a/intern/audaspace/intern/AUD_IReader.h
+++ b/intern/audaspace/intern/AUD_IReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_IWriter.h b/intern/audaspace/intern/AUD_IWriter.h
index 944bce961c3..401faea4813 100644
--- a/intern/audaspace/intern/AUD_IWriter.h
+++ b/intern/audaspace/intern/AUD_IWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_JOSResampleFactory.cpp b/intern/audaspace/intern/AUD_JOSResampleFactory.cpp
index a69b4ed0de8..21aae6b0547 100644
--- a/intern/audaspace/intern/AUD_JOSResampleFactory.cpp
+++ b/intern/audaspace/intern/AUD_JOSResampleFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_JOSResampleFactory.h b/intern/audaspace/intern/AUD_JOSResampleFactory.h
index 90a5df5baf0..a4a303f944d 100644
--- a/intern/audaspace/intern/AUD_JOSResampleFactory.h
+++ b/intern/audaspace/intern/AUD_JOSResampleFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_JOSResampleReader.cpp b/intern/audaspace/intern/AUD_JOSResampleReader.cpp
index 82b784a43bf..2fb8b86ce49 100644
--- a/intern/audaspace/intern/AUD_JOSResampleReader.cpp
+++ b/intern/audaspace/intern/AUD_JOSResampleReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_JOSResampleReader.h b/intern/audaspace/intern/AUD_JOSResampleReader.h
index 19620f2ee67..c05a160c2da 100644
--- a/intern/audaspace/intern/AUD_JOSResampleReader.h
+++ b/intern/audaspace/intern/AUD_JOSResampleReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_JOSResampleReaderCoeff.cpp b/intern/audaspace/intern/AUD_JOSResampleReaderCoeff.cpp
index 59c69301a02..f8fefd5b88f 100644
--- a/intern/audaspace/intern/AUD_JOSResampleReaderCoeff.cpp
+++ b/intern/audaspace/intern/AUD_JOSResampleReaderCoeff.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_LinearResampleFactory.cpp b/intern/audaspace/intern/AUD_LinearResampleFactory.cpp
index 7bedd93b7d5..7f602599b7a 100644
--- a/intern/audaspace/intern/AUD_LinearResampleFactory.cpp
+++ b/intern/audaspace/intern/AUD_LinearResampleFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_LinearResampleFactory.h b/intern/audaspace/intern/AUD_LinearResampleFactory.h
index 6fb101aa708..e1e9cc7ec22 100644
--- a/intern/audaspace/intern/AUD_LinearResampleFactory.h
+++ b/intern/audaspace/intern/AUD_LinearResampleFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_LinearResampleReader.cpp b/intern/audaspace/intern/AUD_LinearResampleReader.cpp
index 599be29f1d7..08644d0a119 100644
--- a/intern/audaspace/intern/AUD_LinearResampleReader.cpp
+++ b/intern/audaspace/intern/AUD_LinearResampleReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_LinearResampleReader.h b/intern/audaspace/intern/AUD_LinearResampleReader.h
index 8d8d67a53ab..1370825894b 100644
--- a/intern/audaspace/intern/AUD_LinearResampleReader.h
+++ b/intern/audaspace/intern/AUD_LinearResampleReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Mixer.cpp b/intern/audaspace/intern/AUD_Mixer.cpp
index caeeac8d43c..380affa6bd1 100644
--- a/intern/audaspace/intern/AUD_Mixer.cpp
+++ b/intern/audaspace/intern/AUD_Mixer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Mixer.h b/intern/audaspace/intern/AUD_Mixer.h
index cdcf0d23b6d..e1b67aca5ff 100644
--- a/intern/audaspace/intern/AUD_Mixer.h
+++ b/intern/audaspace/intern/AUD_Mixer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_MixerFactory.cpp b/intern/audaspace/intern/AUD_MixerFactory.cpp
index c3bf6b4fa99..95a7291d3eb 100644
--- a/intern/audaspace/intern/AUD_MixerFactory.cpp
+++ b/intern/audaspace/intern/AUD_MixerFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_MixerFactory.h b/intern/audaspace/intern/AUD_MixerFactory.h
index 27c703b1898..e3627de5b66 100644
--- a/intern/audaspace/intern/AUD_MixerFactory.h
+++ b/intern/audaspace/intern/AUD_MixerFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_NULLDevice.cpp b/intern/audaspace/intern/AUD_NULLDevice.cpp
index cb76f9eab88..f390971c686 100644
--- a/intern/audaspace/intern/AUD_NULLDevice.cpp
+++ b/intern/audaspace/intern/AUD_NULLDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_NULLDevice.h b/intern/audaspace/intern/AUD_NULLDevice.h
index 5274d68ebf6..6ac8efd227e 100644
--- a/intern/audaspace/intern/AUD_NULLDevice.h
+++ b/intern/audaspace/intern/AUD_NULLDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_PyInit.h b/intern/audaspace/intern/AUD_PyInit.h
index 40ed43938bc..dc24571438e 100644
--- a/intern/audaspace/intern/AUD_PyInit.h
+++ b/intern/audaspace/intern/AUD_PyInit.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ReadDevice.cpp b/intern/audaspace/intern/AUD_ReadDevice.cpp
index 8ab858901b9..bab6ce4f001 100644
--- a/intern/audaspace/intern/AUD_ReadDevice.cpp
+++ b/intern/audaspace/intern/AUD_ReadDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ReadDevice.h b/intern/audaspace/intern/AUD_ReadDevice.h
index 2d0e37c44c1..9e362b42d36 100644
--- a/intern/audaspace/intern/AUD_ReadDevice.h
+++ b/intern/audaspace/intern/AUD_ReadDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Reference.h b/intern/audaspace/intern/AUD_Reference.h
index 4b878fc8d46..0d1c754f908 100644
--- a/intern/audaspace/intern/AUD_Reference.h
+++ b/intern/audaspace/intern/AUD_Reference.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ReferenceHandler.cpp b/intern/audaspace/intern/AUD_ReferenceHandler.cpp
index de440de37f6..24f645df761 100644
--- a/intern/audaspace/intern/AUD_ReferenceHandler.cpp
+++ b/intern/audaspace/intern/AUD_ReferenceHandler.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ResampleFactory.h b/intern/audaspace/intern/AUD_ResampleFactory.h
index 634b82b3c96..34549c16dfa 100644
--- a/intern/audaspace/intern/AUD_ResampleFactory.h
+++ b/intern/audaspace/intern/AUD_ResampleFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ResampleReader.cpp b/intern/audaspace/intern/AUD_ResampleReader.cpp
index e74d21eb743..514d790be09 100644
--- a/intern/audaspace/intern/AUD_ResampleReader.cpp
+++ b/intern/audaspace/intern/AUD_ResampleReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_ResampleReader.h b/intern/audaspace/intern/AUD_ResampleReader.h
index 0792753f4b3..9c3e671f664 100644
--- a/intern/audaspace/intern/AUD_ResampleReader.h
+++ b/intern/audaspace/intern/AUD_ResampleReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerEntry.cpp b/intern/audaspace/intern/AUD_SequencerEntry.cpp
index c5112f9f3de..6e6e2397626 100644
--- a/intern/audaspace/intern/AUD_SequencerEntry.cpp
+++ b/intern/audaspace/intern/AUD_SequencerEntry.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerEntry.h b/intern/audaspace/intern/AUD_SequencerEntry.h
index 53e3513b1b5..3a5a51a41a5 100644
--- a/intern/audaspace/intern/AUD_SequencerEntry.h
+++ b/intern/audaspace/intern/AUD_SequencerEntry.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerFactory.cpp b/intern/audaspace/intern/AUD_SequencerFactory.cpp
index 7eb894b216c..fd495f467cf 100644
--- a/intern/audaspace/intern/AUD_SequencerFactory.cpp
+++ b/intern/audaspace/intern/AUD_SequencerFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerFactory.h b/intern/audaspace/intern/AUD_SequencerFactory.h
index 89f2b015929..08d18fcc925 100644
--- a/intern/audaspace/intern/AUD_SequencerFactory.h
+++ b/intern/audaspace/intern/AUD_SequencerFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerHandle.cpp b/intern/audaspace/intern/AUD_SequencerHandle.cpp
index 87f5eb29d70..d13efb9683b 100644
--- a/intern/audaspace/intern/AUD_SequencerHandle.cpp
+++ b/intern/audaspace/intern/AUD_SequencerHandle.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerHandle.h b/intern/audaspace/intern/AUD_SequencerHandle.h
index ab86bf49b0f..c7fd3f026eb 100644
--- a/intern/audaspace/intern/AUD_SequencerHandle.h
+++ b/intern/audaspace/intern/AUD_SequencerHandle.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerReader.cpp b/intern/audaspace/intern/AUD_SequencerReader.cpp
index 23d50c78508..44df66ccc3a 100644
--- a/intern/audaspace/intern/AUD_SequencerReader.cpp
+++ b/intern/audaspace/intern/AUD_SequencerReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SequencerReader.h b/intern/audaspace/intern/AUD_SequencerReader.h
index 9b7aa82dc7e..a4120830e42 100644
--- a/intern/audaspace/intern/AUD_SequencerReader.h
+++ b/intern/audaspace/intern/AUD_SequencerReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SilenceFactory.cpp b/intern/audaspace/intern/AUD_SilenceFactory.cpp
index aefd561a584..0ba553f1c02 100644
--- a/intern/audaspace/intern/AUD_SilenceFactory.cpp
+++ b/intern/audaspace/intern/AUD_SilenceFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SilenceFactory.h b/intern/audaspace/intern/AUD_SilenceFactory.h
index 214f1dd45d6..d1b0f9d6550 100644
--- a/intern/audaspace/intern/AUD_SilenceFactory.h
+++ b/intern/audaspace/intern/AUD_SilenceFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SilenceReader.cpp b/intern/audaspace/intern/AUD_SilenceReader.cpp
index d34fea72bb3..948868508fc 100644
--- a/intern/audaspace/intern/AUD_SilenceReader.cpp
+++ b/intern/audaspace/intern/AUD_SilenceReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SilenceReader.h b/intern/audaspace/intern/AUD_SilenceReader.h
index 823dff10bcc..de4f9df51fb 100644
--- a/intern/audaspace/intern/AUD_SilenceReader.h
+++ b/intern/audaspace/intern/AUD_SilenceReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SinusFactory.cpp b/intern/audaspace/intern/AUD_SinusFactory.cpp
index b79f6bee6d7..3ef6a11de5b 100644
--- a/intern/audaspace/intern/AUD_SinusFactory.cpp
+++ b/intern/audaspace/intern/AUD_SinusFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SinusFactory.h b/intern/audaspace/intern/AUD_SinusFactory.h
index a6bc7f2110c..f73cdd278b5 100644
--- a/intern/audaspace/intern/AUD_SinusFactory.h
+++ b/intern/audaspace/intern/AUD_SinusFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SinusReader.cpp b/intern/audaspace/intern/AUD_SinusReader.cpp
index bb5477ed5cf..2e89126bd7b 100644
--- a/intern/audaspace/intern/AUD_SinusReader.cpp
+++ b/intern/audaspace/intern/AUD_SinusReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SinusReader.h b/intern/audaspace/intern/AUD_SinusReader.h
index 9becbbd135a..ce79470c83d 100644
--- a/intern/audaspace/intern/AUD_SinusReader.h
+++ b/intern/audaspace/intern/AUD_SinusReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SoftwareDevice.cpp b/intern/audaspace/intern/AUD_SoftwareDevice.cpp
index 0413c488b5d..b1e5d8ccd75 100644
--- a/intern/audaspace/intern/AUD_SoftwareDevice.cpp
+++ b/intern/audaspace/intern/AUD_SoftwareDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_SoftwareDevice.h b/intern/audaspace/intern/AUD_SoftwareDevice.h
index 57ca445595b..010f579c86d 100644
--- a/intern/audaspace/intern/AUD_SoftwareDevice.h
+++ b/intern/audaspace/intern/AUD_SoftwareDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_Space.h b/intern/audaspace/intern/AUD_Space.h
index 6720dd3b4b5..c018d6e68e7 100644
--- a/intern/audaspace/intern/AUD_Space.h
+++ b/intern/audaspace/intern/AUD_Space.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_StreamBufferFactory.cpp b/intern/audaspace/intern/AUD_StreamBufferFactory.cpp
index ff966c86025..1c8d2a99351 100644
--- a/intern/audaspace/intern/AUD_StreamBufferFactory.cpp
+++ b/intern/audaspace/intern/AUD_StreamBufferFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/intern/AUD_StreamBufferFactory.h b/intern/audaspace/intern/AUD_StreamBufferFactory.h
index 894cdc7fe01..f1f1c0f6a66 100644
--- a/intern/audaspace/intern/AUD_StreamBufferFactory.h
+++ b/intern/audaspace/intern/AUD_StreamBufferFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/jack/AUD_JackDevice.cpp b/intern/audaspace/jack/AUD_JackDevice.cpp
index a8b2625b848..a83098ac496 100644
--- a/intern/audaspace/jack/AUD_JackDevice.cpp
+++ b/intern/audaspace/jack/AUD_JackDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/jack/AUD_JackDevice.h b/intern/audaspace/jack/AUD_JackDevice.h
index f0b7573156d..3813685dbb6 100644
--- a/intern/audaspace/jack/AUD_JackDevice.h
+++ b/intern/audaspace/jack/AUD_JackDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileFactory.cpp b/intern/audaspace/sndfile/AUD_SndFileFactory.cpp
index 7ad027ddc1e..1fc77fbde66 100644
--- a/intern/audaspace/sndfile/AUD_SndFileFactory.cpp
+++ b/intern/audaspace/sndfile/AUD_SndFileFactory.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileFactory.h b/intern/audaspace/sndfile/AUD_SndFileFactory.h
index 52d272b2623..bd02a596db3 100644
--- a/intern/audaspace/sndfile/AUD_SndFileFactory.h
+++ b/intern/audaspace/sndfile/AUD_SndFileFactory.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileReader.cpp b/intern/audaspace/sndfile/AUD_SndFileReader.cpp
index 16c90b6f0f1..8dbb43cb17e 100644
--- a/intern/audaspace/sndfile/AUD_SndFileReader.cpp
+++ b/intern/audaspace/sndfile/AUD_SndFileReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileReader.h b/intern/audaspace/sndfile/AUD_SndFileReader.h
index e7f9e9bf6d6..b4552a7d0e5 100644
--- a/intern/audaspace/sndfile/AUD_SndFileReader.h
+++ b/intern/audaspace/sndfile/AUD_SndFileReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileWriter.cpp b/intern/audaspace/sndfile/AUD_SndFileWriter.cpp
index ba59cd3d9d7..da3464751cb 100644
--- a/intern/audaspace/sndfile/AUD_SndFileWriter.cpp
+++ b/intern/audaspace/sndfile/AUD_SndFileWriter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/audaspace/sndfile/AUD_SndFileWriter.h b/intern/audaspace/sndfile/AUD_SndFileWriter.h
index 110b7f800cd..9e29fd1a347 100644
--- a/intern/audaspace/sndfile/AUD_SndFileWriter.h
+++ b/intern/audaspace/sndfile/AUD_SndFileWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * Copyright 2009-2011 Jörg Hermann Müller
diff --git a/intern/boolop/CMakeLists.txt b/intern/boolop/CMakeLists.txt
index 742c0f1d42c..29ea1a28c5f 100644
--- a/intern/boolop/CMakeLists.txt
+++ b/intern/boolop/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/boolop/intern/BOP_Face2Face.cpp b/intern/boolop/intern/BOP_Face2Face.cpp
index 7a1a3cb34c7..332b70550ed 100644
--- a/intern/boolop/intern/BOP_Face2Face.cpp
+++ b/intern/boolop/intern/BOP_Face2Face.cpp
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_MathUtils.cpp b/intern/boolop/intern/BOP_MathUtils.cpp
index 8e875cd27d4..aa9083d17b6 100644
--- a/intern/boolop/intern/BOP_MathUtils.cpp
+++ b/intern/boolop/intern/BOP_MathUtils.cpp
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_MathUtils.h b/intern/boolop/intern/BOP_MathUtils.h
index ea797c1f3fa..27e5e100b8c 100644
--- a/intern/boolop/intern/BOP_MathUtils.h
+++ b/intern/boolop/intern/BOP_MathUtils.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_Merge.cpp b/intern/boolop/intern/BOP_Merge.cpp
index 2834ecc0ff9..0baa6e7be67 100644
--- a/intern/boolop/intern/BOP_Merge.cpp
+++ b/intern/boolop/intern/BOP_Merge.cpp
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_Merge2.cpp b/intern/boolop/intern/BOP_Merge2.cpp
index 2ac107184f2..9028743bee3 100644
--- a/intern/boolop/intern/BOP_Merge2.cpp
+++ b/intern/boolop/intern/BOP_Merge2.cpp
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_Mesh.cpp b/intern/boolop/intern/BOP_Mesh.cpp
index 7ccdce36754..5ea9872467d 100644
--- a/intern/boolop/intern/BOP_Mesh.cpp
+++ b/intern/boolop/intern/BOP_Mesh.cpp
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_Mesh.h b/intern/boolop/intern/BOP_Mesh.h
index d7217382e8b..8550333664f 100644
--- a/intern/boolop/intern/BOP_Mesh.h
+++ b/intern/boolop/intern/BOP_Mesh.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/boolop/intern/BOP_Misc.h b/intern/boolop/intern/BOP_Misc.h
index a4493dcabfe..4a808771df2 100644
--- a/intern/boolop/intern/BOP_Misc.h
+++ b/intern/boolop/intern/BOP_Misc.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/bsp/CMakeLists.txt b/intern/bsp/CMakeLists.txt
index a844db3257e..6a337b99be9 100644
--- a/intern/bsp/CMakeLists.txt
+++ b/intern/bsp/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/extern/CSG_BooleanOps.h b/intern/bsp/extern/CSG_BooleanOps.h
index 02427df1c92..eea0dbc547c 100644
--- a/intern/bsp/extern/CSG_BooleanOps.h
+++ b/intern/bsp/extern/CSG_BooleanOps.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/intern/BSP_CSGException.h b/intern/bsp/intern/BSP_CSGException.h
index 994f964901b..fc1160d60ee 100644
--- a/intern/bsp/intern/BSP_CSGException.h
+++ b/intern/bsp/intern/BSP_CSGException.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/intern/BSP_CSGMesh.cpp b/intern/bsp/intern/BSP_CSGMesh.cpp
index 97d0bee131b..82919688a38 100644
--- a/intern/bsp/intern/BSP_CSGMesh.cpp
+++ b/intern/bsp/intern/BSP_CSGMesh.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/intern/BSP_CSGMesh.h b/intern/bsp/intern/BSP_CSGMesh.h
index e914d65490d..13a38f26689 100644
--- a/intern/bsp/intern/BSP_CSGMesh.h
+++ b/intern/bsp/intern/BSP_CSGMesh.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/intern/BSP_MeshPrimitives.cpp b/intern/bsp/intern/BSP_MeshPrimitives.cpp
index 30e0a886a5c..f79fcbdd1eb 100644
--- a/intern/bsp/intern/BSP_MeshPrimitives.cpp
+++ b/intern/bsp/intern/BSP_MeshPrimitives.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/intern/BSP_MeshPrimitives.h b/intern/bsp/intern/BSP_MeshPrimitives.h
index a606c48f807..4b795f4cfa2 100644
--- a/intern/bsp/intern/BSP_MeshPrimitives.h
+++ b/intern/bsp/intern/BSP_MeshPrimitives.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.cpp b/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.cpp
index 7b0d144c5c7..9a79c412e4f 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.cpp
+++ b/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -28,7 +27,6 @@
 
 /**
 
-* $Id$
 * Copyright (C) 2001 NaN Technologies B.V.
 */
 #if defined(WIN32) || defined(__APPLE__)
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.h b/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.h
index cd3554660f1..26db15fd587 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.h
+++ b/intern/bsp/test/BSP_GhostTest/BSP_GhostTest3D.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.cpp b/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.cpp
index 1d3be0b9ca4..a1a3150c4d4 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.cpp
+++ b/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.h b/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.h
index 95a011b2b65..443c41a7c85 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.h
+++ b/intern/bsp/test/BSP_GhostTest/BSP_MeshDrawer.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.cpp b/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.cpp
index 9c0499a7977..65a1da34a9b 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.cpp
+++ b/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.h b/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.h
index f90068b2e03..73803ebf921 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.h
+++ b/intern/bsp/test/BSP_GhostTest/BSP_PlyLoader.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/BSP_TMesh.h b/intern/bsp/test/BSP_GhostTest/BSP_TMesh.h
index d9b992eae1f..3de5fd5df4c 100644
--- a/intern/bsp/test/BSP_GhostTest/BSP_TMesh.h
+++ b/intern/bsp/test/BSP_GhostTest/BSP_TMesh.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/main.cpp b/intern/bsp/test/BSP_GhostTest/main.cpp
index a03d85b25e9..d5fa884afa1 100644
--- a/intern/bsp/test/BSP_GhostTest/main.cpp
+++ b/intern/bsp/test/BSP_GhostTest/main.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/ply.h b/intern/bsp/test/BSP_GhostTest/ply.h
index c92db807d62..12425ded898 100644
--- a/intern/bsp/test/BSP_GhostTest/ply.h
+++ b/intern/bsp/test/BSP_GhostTest/ply.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/bsp/test/BSP_GhostTest/plyfile.c b/intern/bsp/test/BSP_GhostTest/plyfile.c
index aa0db15a334..9cb9d81da22 100644
--- a/intern/bsp/test/BSP_GhostTest/plyfile.c
+++ b/intern/bsp/test/BSP_GhostTest/plyfile.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/container/CMakeLists.txt b/intern/container/CMakeLists.txt
index 42c8de6a08e..b29eea37bc7 100644
--- a/intern/container/CMakeLists.txt
+++ b/intern/container/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/container/CTR_HashedPtr.h b/intern/container/CTR_HashedPtr.h
index 0291535d718..caf63f75606 100644
--- a/intern/container/CTR_HashedPtr.h
+++ b/intern/container/CTR_HashedPtr.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/container/CTR_List.h b/intern/container/CTR_List.h
index 79af9ea5abc..7eb8dce7241 100644
--- a/intern/container/CTR_List.h
+++ b/intern/container/CTR_List.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/container/CTR_Map.h b/intern/container/CTR_Map.h
index 08aa26eb9e2..8b6d84337c2 100644
--- a/intern/container/CTR_Map.h
+++ b/intern/container/CTR_Map.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/container/CTR_TaggedIndex.h b/intern/container/CTR_TaggedIndex.h
index b5284a5da30..00a24d07760 100644
--- a/intern/container/CTR_TaggedIndex.h
+++ b/intern/container/CTR_TaggedIndex.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * Simple tagged index class.
  */
diff --git a/intern/container/CTR_TaggedSetOps.h b/intern/container/CTR_TaggedSetOps.h
index 19ddcffac12..9dc4e4f00db 100644
--- a/intern/container/CTR_TaggedSetOps.h
+++ b/intern/container/CTR_TaggedSetOps.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/container/CTR_UHeap.h b/intern/container/CTR_UHeap.h
index 150deb7ce25..e1cd2755263 100644
--- a/intern/container/CTR_UHeap.h
+++ b/intern/container/CTR_UHeap.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  *
  * @author Laurence
diff --git a/intern/container/intern/CTR_List.cpp b/intern/container/intern/CTR_List.cpp
index 2bc9ded325a..2fc7b0261ef 100644
--- a/intern/container/intern/CTR_List.cpp
+++ b/intern/container/intern/CTR_List.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/CMakeLists.txt b/intern/decimation/CMakeLists.txt
index 53ba92e416b..73b67d7f3b1 100644
--- a/intern/decimation/CMakeLists.txt
+++ b/intern/decimation/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/extern/LOD_decimation.h b/intern/decimation/extern/LOD_decimation.h
index daca15bf972..1c31e98f3da 100644
--- a/intern/decimation/extern/LOD_decimation.h
+++ b/intern/decimation/extern/LOD_decimation.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_DecimationClass.h b/intern/decimation/intern/LOD_DecimationClass.h
index dadf26299ac..a91db1a28e6 100644
--- a/intern/decimation/intern/LOD_DecimationClass.h
+++ b/intern/decimation/intern/LOD_DecimationClass.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_EdgeCollapser.cpp b/intern/decimation/intern/LOD_EdgeCollapser.cpp
index 4f162ba2bfc..5d188eecc2e 100644
--- a/intern/decimation/intern/LOD_EdgeCollapser.cpp
+++ b/intern/decimation/intern/LOD_EdgeCollapser.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_EdgeCollapser.h b/intern/decimation/intern/LOD_EdgeCollapser.h
index d08d21e61e6..ae4e9072f5b 100644
--- a/intern/decimation/intern/LOD_EdgeCollapser.h
+++ b/intern/decimation/intern/LOD_EdgeCollapser.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_ExternBufferEditor.h b/intern/decimation/intern/LOD_ExternBufferEditor.h
index cfbbc5f1adf..3d7665754f7 100644
--- a/intern/decimation/intern/LOD_ExternBufferEditor.h
+++ b/intern/decimation/intern/LOD_ExternBufferEditor.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  */
 
diff --git a/intern/decimation/intern/LOD_ExternNormalEditor.cpp b/intern/decimation/intern/LOD_ExternNormalEditor.cpp
index 4dd660f79b2..90033fe672b 100644
--- a/intern/decimation/intern/LOD_ExternNormalEditor.cpp
+++ b/intern/decimation/intern/LOD_ExternNormalEditor.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_ExternNormalEditor.h b/intern/decimation/intern/LOD_ExternNormalEditor.h
index 0ef712d80b9..491cccabf1e 100644
--- a/intern/decimation/intern/LOD_ExternNormalEditor.h
+++ b/intern/decimation/intern/LOD_ExternNormalEditor.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_FaceNormalEditor.cpp b/intern/decimation/intern/LOD_FaceNormalEditor.cpp
index 5babf545887..430406a6d63 100644
--- a/intern/decimation/intern/LOD_FaceNormalEditor.cpp
+++ b/intern/decimation/intern/LOD_FaceNormalEditor.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_FaceNormalEditor.h b/intern/decimation/intern/LOD_FaceNormalEditor.h
index 00637769a23..6fd65e3db62 100644
--- a/intern/decimation/intern/LOD_FaceNormalEditor.h
+++ b/intern/decimation/intern/LOD_FaceNormalEditor.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_ManMesh2.cpp b/intern/decimation/intern/LOD_ManMesh2.cpp
index 549af4e160e..c618944162f 100644
--- a/intern/decimation/intern/LOD_ManMesh2.cpp
+++ b/intern/decimation/intern/LOD_ManMesh2.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_ManMesh2.h b/intern/decimation/intern/LOD_ManMesh2.h
index 755f0d5e445..1377a405ff7 100644
--- a/intern/decimation/intern/LOD_ManMesh2.h
+++ b/intern/decimation/intern/LOD_ManMesh2.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_MeshBounds.h b/intern/decimation/intern/LOD_MeshBounds.h
index fe74c3a5fd7..116c32efed6 100644
--- a/intern/decimation/intern/LOD_MeshBounds.h
+++ b/intern/decimation/intern/LOD_MeshBounds.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_MeshException.h b/intern/decimation/intern/LOD_MeshException.h
index c08fa7ea0f9..15a88777146 100644
--- a/intern/decimation/intern/LOD_MeshException.h
+++ b/intern/decimation/intern/LOD_MeshException.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_MeshPrimitives.cpp b/intern/decimation/intern/LOD_MeshPrimitives.cpp
index 7477267d80a..ee4e4c120fc 100644
--- a/intern/decimation/intern/LOD_MeshPrimitives.cpp
+++ b/intern/decimation/intern/LOD_MeshPrimitives.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_MeshPrimitives.h b/intern/decimation/intern/LOD_MeshPrimitives.h
index 744e3de340f..e863f27e071 100644
--- a/intern/decimation/intern/LOD_MeshPrimitives.h
+++ b/intern/decimation/intern/LOD_MeshPrimitives.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_QSDecimator.cpp b/intern/decimation/intern/LOD_QSDecimator.cpp
index 0cd7bd129b0..607a43a156d 100644
--- a/intern/decimation/intern/LOD_QSDecimator.cpp
+++ b/intern/decimation/intern/LOD_QSDecimator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_QSDecimator.h b/intern/decimation/intern/LOD_QSDecimator.h
index 8e0f5cd2f42..d471186a360 100644
--- a/intern/decimation/intern/LOD_QSDecimator.h
+++ b/intern/decimation/intern/LOD_QSDecimator.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_Quadric.h b/intern/decimation/intern/LOD_Quadric.h
index d40499be44e..cb7846da2ca 100644
--- a/intern/decimation/intern/LOD_Quadric.h
+++ b/intern/decimation/intern/LOD_Quadric.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_QuadricEditor.cpp b/intern/decimation/intern/LOD_QuadricEditor.cpp
index 27bf9e40ad9..b56f6a5b520 100644
--- a/intern/decimation/intern/LOD_QuadricEditor.cpp
+++ b/intern/decimation/intern/LOD_QuadricEditor.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_QuadricEditor.h b/intern/decimation/intern/LOD_QuadricEditor.h
index 31f6c671f25..0b0c7eead45 100644
--- a/intern/decimation/intern/LOD_QuadricEditor.h
+++ b/intern/decimation/intern/LOD_QuadricEditor.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/decimation/intern/LOD_decimation.cpp b/intern/decimation/intern/LOD_decimation.cpp
index a3893cd46fc..49033933cd6 100644
--- a/intern/decimation/intern/LOD_decimation.cpp
+++ b/intern/decimation/intern/LOD_decimation.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/elbeem/CMakeLists.txt b/intern/elbeem/CMakeLists.txt
index 718c6ddd161..a3c106ff465 100644
--- a/intern/elbeem/CMakeLists.txt
+++ b/intern/elbeem/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/elbeem/extern/LBM_fluidsim.h b/intern/elbeem/extern/LBM_fluidsim.h
index 1f73649519c..374e11d1c06 100644
--- a/intern/elbeem/extern/LBM_fluidsim.h
+++ b/intern/elbeem/extern/LBM_fluidsim.h
@@ -1,7 +1,6 @@
 /*
  * BKE_fluidsim.h 
  *	
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/ffmpeg/ffmpeg_compat.h b/intern/ffmpeg/ffmpeg_compat.h
index 05299525d67..dfdad22e176 100644
--- a/intern/ffmpeg/ffmpeg_compat.h
+++ b/intern/ffmpeg/ffmpeg_compat.h
@@ -2,7 +2,6 @@
 #define __ffmpeg_compat_h_included__ 1
 
 /*
- * $Id$
  *
  * compatibility macros to make every ffmpeg installation appear
  * like the most current installation (wrapping some functionality sometimes)
@@ -151,7 +150,8 @@ int64_t av_get_pts_from_frame(AVFormatContext *avctx, AVFrame * picture)
 	if (pts == AV_NOPTS_VALUE) {
 		pts = 0;
 	}
-	
+
+	(void)avctx;
 	return pts;
 }
 
diff --git a/intern/ghost/CMakeLists.txt b/intern/ghost/CMakeLists.txt
index e028c4e6912..4446426098a 100644
--- a/intern/ghost/CMakeLists.txt
+++ b/intern/ghost/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_C-api.h b/intern/ghost/GHOST_C-api.h
index a315dfa85e9..8d06bdbba65 100644
--- a/intern/ghost/GHOST_C-api.h
+++ b/intern/ghost/GHOST_C-api.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_IEvent.h b/intern/ghost/GHOST_IEvent.h
index bb13179fbfe..4e181b91c9e 100644
--- a/intern/ghost/GHOST_IEvent.h
+++ b/intern/ghost/GHOST_IEvent.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_IEventConsumer.h b/intern/ghost/GHOST_IEventConsumer.h
index 246ba8aa948..9229595c90d 100644
--- a/intern/ghost/GHOST_IEventConsumer.h
+++ b/intern/ghost/GHOST_IEventConsumer.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_ISystem.h b/intern/ghost/GHOST_ISystem.h
index 015ae780bea..f926c07a8e5 100644
--- a/intern/ghost/GHOST_ISystem.h
+++ b/intern/ghost/GHOST_ISystem.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -253,7 +252,7 @@ public:
 	 * @return	Indication of success.
 	 */
 	virtual GHOST_TSuccess beginFullScreen(const GHOST_DisplaySetting& setting, GHOST_IWindow** window,
-		const bool stereoVisual) = 0;
+		const bool stereoVisual, const GHOST_TUns16 numOfAASamples=0) = 0;
 
 	/**
 	 * Ends full screen mode.
diff --git a/intern/ghost/GHOST_ISystemPaths.h b/intern/ghost/GHOST_ISystemPaths.h
index 5c9b3c109ef..05795d86cc9 100644
--- a/intern/ghost/GHOST_ISystemPaths.h
+++ b/intern/ghost/GHOST_ISystemPaths.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_ITimerTask.h b/intern/ghost/GHOST_ITimerTask.h
index e6b713756d6..95d75663401 100644
--- a/intern/ghost/GHOST_ITimerTask.h
+++ b/intern/ghost/GHOST_ITimerTask.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_IWindow.h b/intern/ghost/GHOST_IWindow.h
index 97c525ef318..12a11d838dc 100644
--- a/intern/ghost/GHOST_IWindow.h
+++ b/intern/ghost/GHOST_IWindow.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_Path-api.h b/intern/ghost/GHOST_Path-api.h
index 790a529745f..abe837b6290 100644
--- a/intern/ghost/GHOST_Path-api.h
+++ b/intern/ghost/GHOST_Path-api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_Rect.h b/intern/ghost/GHOST_Rect.h
index c654a45c811..c3b9460a14f 100644
--- a/intern/ghost/GHOST_Rect.h
+++ b/intern/ghost/GHOST_Rect.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/GHOST_Types.h b/intern/ghost/GHOST_Types.h
index 2b5e96a1bf7..41496bca993 100644
--- a/intern/ghost/GHOST_Types.h
+++ b/intern/ghost/GHOST_Types.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Buttons.cpp b/intern/ghost/intern/GHOST_Buttons.cpp
index 9f20c103418..1f56cf44b56 100644
--- a/intern/ghost/intern/GHOST_Buttons.cpp
+++ b/intern/ghost/intern/GHOST_Buttons.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Buttons.h b/intern/ghost/intern/GHOST_Buttons.h
index d231a254596..7a3d8b6ae71 100644
--- a/intern/ghost/intern/GHOST_Buttons.h
+++ b/intern/ghost/intern/GHOST_Buttons.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_C-api.cpp b/intern/ghost/intern/GHOST_C-api.cpp
index 6332d72a42f..35a97b6d416 100644
--- a/intern/ghost/intern/GHOST_C-api.cpp
+++ b/intern/ghost/intern/GHOST_C-api.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -37,7 +36,6 @@
  *
  * C Api for GHOST
  *
- * Version: $Id$
  */
 
 #include <stdlib.h>
diff --git a/intern/ghost/intern/GHOST_CallbackEventConsumer.cpp b/intern/ghost/intern/GHOST_CallbackEventConsumer.cpp
index 64ec7843618..50000421bfd 100644
--- a/intern/ghost/intern/GHOST_CallbackEventConsumer.cpp
+++ b/intern/ghost/intern/GHOST_CallbackEventConsumer.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	October 25, 2001
diff --git a/intern/ghost/intern/GHOST_CallbackEventConsumer.h b/intern/ghost/intern/GHOST_CallbackEventConsumer.h
index b0d8160a5e8..8c16f53025c 100644
--- a/intern/ghost/intern/GHOST_CallbackEventConsumer.h
+++ b/intern/ghost/intern/GHOST_CallbackEventConsumer.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Debug.h b/intern/ghost/intern/GHOST_Debug.h
index ef1099b5cf6..f2e16259c57 100644
--- a/intern/ghost/intern/GHOST_Debug.h
+++ b/intern/ghost/intern/GHOST_Debug.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManager.cpp b/intern/ghost/intern/GHOST_DisplayManager.cpp
index 80466efeee7..8a86424e347 100644
--- a/intern/ghost/intern/GHOST_DisplayManager.cpp
+++ b/intern/ghost/intern/GHOST_DisplayManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManager.h b/intern/ghost/intern/GHOST_DisplayManager.h
index 16e702f692a..8329d7be94e 100644
--- a/intern/ghost/intern/GHOST_DisplayManager.h
+++ b/intern/ghost/intern/GHOST_DisplayManager.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerCarbon.cpp b/intern/ghost/intern/GHOST_DisplayManagerCarbon.cpp
index 077b380e320..5ef3bbea942 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerCarbon.cpp
+++ b/intern/ghost/intern/GHOST_DisplayManagerCarbon.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	September 21, 2001
diff --git a/intern/ghost/intern/GHOST_DisplayManagerCarbon.h b/intern/ghost/intern/GHOST_DisplayManagerCarbon.h
index 6637bee1804..1a3c0d995b9 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerCarbon.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerCarbon.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerCocoa.h b/intern/ghost/intern/GHOST_DisplayManagerCocoa.h
index 2248019258f..7e12ca18aa2 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerCocoa.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerCocoa.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerCocoa.mm b/intern/ghost/intern/GHOST_DisplayManagerCocoa.mm
index 86f5f4cdddb..9050c3f946f 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerCocoa.mm
+++ b/intern/ghost/intern/GHOST_DisplayManagerCocoa.mm
@@ -1,5 +1,4 @@
-/**
- * $Id$
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerNULL.h b/intern/ghost/intern/GHOST_DisplayManagerNULL.h
index ba4a36ee3d1..5d3f0168c52 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerNULL.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerNULL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerSDL.cpp b/intern/ghost/intern/GHOST_DisplayManagerSDL.cpp
index 2e55957e60a..1b73329f8bb 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerSDL.cpp
+++ b/intern/ghost/intern/GHOST_DisplayManagerSDL.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerSDL.h b/intern/ghost/intern/GHOST_DisplayManagerSDL.h
index 2a815b1dc28..ff8ab13c4fa 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerSDL.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerSDL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerWin32.cpp b/intern/ghost/intern/GHOST_DisplayManagerWin32.cpp
index 47f748927ab..b7d62a8109e 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerWin32.cpp
+++ b/intern/ghost/intern/GHOST_DisplayManagerWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerWin32.h b/intern/ghost/intern/GHOST_DisplayManagerWin32.h
index 9a3a79fe28b..84749d42dbb 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerWin32.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerWin32.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerX11.cpp b/intern/ghost/intern/GHOST_DisplayManagerX11.cpp
index fe5e4471280..34f5fda2a16 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerX11.cpp
+++ b/intern/ghost/intern/GHOST_DisplayManagerX11.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DisplayManagerX11.h b/intern/ghost/intern/GHOST_DisplayManagerX11.h
index 435d4383910..62374b9170a 100644
--- a/intern/ghost/intern/GHOST_DisplayManagerX11.h
+++ b/intern/ghost/intern/GHOST_DisplayManagerX11.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DropTargetWin32.cpp b/intern/ghost/intern/GHOST_DropTargetWin32.cpp
index 99990a46c2a..4c9072d2ce6 100644
--- a/intern/ghost/intern/GHOST_DropTargetWin32.cpp
+++ b/intern/ghost/intern/GHOST_DropTargetWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_DropTargetWin32.h b/intern/ghost/intern/GHOST_DropTargetWin32.h
index 7179c295a98..0e8b2d15991 100644
--- a/intern/ghost/intern/GHOST_DropTargetWin32.h
+++ b/intern/ghost/intern/GHOST_DropTargetWin32.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Event.h b/intern/ghost/intern/GHOST_Event.h
index cfcbe2ef395..aa626f8970d 100644
--- a/intern/ghost/intern/GHOST_Event.h
+++ b/intern/ghost/intern/GHOST_Event.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventButton.h b/intern/ghost/intern/GHOST_EventButton.h
index 3016917b810..3911e2a8bb5 100644
--- a/intern/ghost/intern/GHOST_EventButton.h
+++ b/intern/ghost/intern/GHOST_EventButton.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventCursor.h b/intern/ghost/intern/GHOST_EventCursor.h
index db4dcb7b59b..863538b442f 100644
--- a/intern/ghost/intern/GHOST_EventCursor.h
+++ b/intern/ghost/intern/GHOST_EventCursor.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventDragnDrop.h b/intern/ghost/intern/GHOST_EventDragnDrop.h
index 7ddfe36084a..650a109a668 100644
--- a/intern/ghost/intern/GHOST_EventDragnDrop.h
+++ b/intern/ghost/intern/GHOST_EventDragnDrop.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventKey.h b/intern/ghost/intern/GHOST_EventKey.h
index a8fca1e8f2d..5410b1eda16 100644
--- a/intern/ghost/intern/GHOST_EventKey.h
+++ b/intern/ghost/intern/GHOST_EventKey.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventManager.cpp b/intern/ghost/intern/GHOST_EventManager.cpp
index 86b87973038..8c2a7f7d1e8 100644
--- a/intern/ghost/intern/GHOST_EventManager.cpp
+++ b/intern/ghost/intern/GHOST_EventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 14, 2001
diff --git a/intern/ghost/intern/GHOST_EventManager.h b/intern/ghost/intern/GHOST_EventManager.h
index 3dc751507d6..ad2622ae436 100644
--- a/intern/ghost/intern/GHOST_EventManager.h
+++ b/intern/ghost/intern/GHOST_EventManager.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventPrinter.cpp b/intern/ghost/intern/GHOST_EventPrinter.cpp
index 9fa0b278353..1b5f28aae3b 100644
--- a/intern/ghost/intern/GHOST_EventPrinter.cpp
+++ b/intern/ghost/intern/GHOST_EventPrinter.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventPrinter.h b/intern/ghost/intern/GHOST_EventPrinter.h
index d9b7f86c04e..523bd4e3185 100644
--- a/intern/ghost/intern/GHOST_EventPrinter.h
+++ b/intern/ghost/intern/GHOST_EventPrinter.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventString.h b/intern/ghost/intern/GHOST_EventString.h
index e5fe50d0b9b..e8735fdfbbe 100644
--- a/intern/ghost/intern/GHOST_EventString.h
+++ b/intern/ghost/intern/GHOST_EventString.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventTrackpad.h b/intern/ghost/intern/GHOST_EventTrackpad.h
index 12ce6babb1d..06706ea5ff3 100644
--- a/intern/ghost/intern/GHOST_EventTrackpad.h
+++ b/intern/ghost/intern/GHOST_EventTrackpad.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_EventWheel.h b/intern/ghost/intern/GHOST_EventWheel.h
index 1be5de721fd..0036fa60275 100644
--- a/intern/ghost/intern/GHOST_EventWheel.h
+++ b/intern/ghost/intern/GHOST_EventWheel.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_ISystem.cpp b/intern/ghost/intern/GHOST_ISystem.cpp
index 278c224ff85..66d8a3176bd 100644
--- a/intern/ghost/intern/GHOST_ISystem.cpp
+++ b/intern/ghost/intern/GHOST_ISystem.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 7, 2001
diff --git a/intern/ghost/intern/GHOST_ISystemPaths.cpp b/intern/ghost/intern/GHOST_ISystemPaths.cpp
index 1aa043ebc80..55fc2c3796f 100644
--- a/intern/ghost/intern/GHOST_ISystemPaths.cpp
+++ b/intern/ghost/intern/GHOST_ISystemPaths.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 7, 2001
diff --git a/intern/ghost/intern/GHOST_ModifierKeys.cpp b/intern/ghost/intern/GHOST_ModifierKeys.cpp
index e8f03180e54..553a45fd948 100644
--- a/intern/ghost/intern/GHOST_ModifierKeys.cpp
+++ b/intern/ghost/intern/GHOST_ModifierKeys.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 31, 2001
diff --git a/intern/ghost/intern/GHOST_ModifierKeys.h b/intern/ghost/intern/GHOST_ModifierKeys.h
index 0109fe7b7c6..1cb1272290c 100644
--- a/intern/ghost/intern/GHOST_ModifierKeys.h
+++ b/intern/ghost/intern/GHOST_ModifierKeys.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManager.cpp b/intern/ghost/intern/GHOST_NDOFManager.cpp
index c2e6f278c6b..be5d45128f9 100644
--- a/intern/ghost/intern/GHOST_NDOFManager.cpp
+++ b/intern/ghost/intern/GHOST_NDOFManager.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManager.h b/intern/ghost/intern/GHOST_NDOFManager.h
index 5bdbe7a6833..34759035664 100644
--- a/intern/ghost/intern/GHOST_NDOFManager.h
+++ b/intern/ghost/intern/GHOST_NDOFManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManagerCocoa.h b/intern/ghost/intern/GHOST_NDOFManagerCocoa.h
index 5e85808b5a6..7a33d8455ce 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerCocoa.h
+++ b/intern/ghost/intern/GHOST_NDOFManagerCocoa.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManagerCocoa.mm b/intern/ghost/intern/GHOST_NDOFManagerCocoa.mm
index f665f5f6b39..d29dd4dd3e8 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerCocoa.mm
+++ b/intern/ghost/intern/GHOST_NDOFManagerCocoa.mm
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManagerWin32.cpp b/intern/ghost/intern/GHOST_NDOFManagerWin32.cpp
index fd62e845f7d..6c1627905e0 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerWin32.cpp
+++ b/intern/ghost/intern/GHOST_NDOFManagerWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * 
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/intern/ghost/intern/GHOST_NDOFManagerWin32.h b/intern/ghost/intern/GHOST_NDOFManagerWin32.h
index 9f3eddeb3c8..671147625db 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerWin32.h
+++ b/intern/ghost/intern/GHOST_NDOFManagerWin32.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManagerX11.cpp b/intern/ghost/intern/GHOST_NDOFManagerX11.cpp
index 4dd53319039..1e025cd738a 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerX11.cpp
+++ b/intern/ghost/intern/GHOST_NDOFManagerX11.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_NDOFManagerX11.h b/intern/ghost/intern/GHOST_NDOFManagerX11.h
index 0a549753756..6873318f8c5 100644
--- a/intern/ghost/intern/GHOST_NDOFManagerX11.h
+++ b/intern/ghost/intern/GHOST_NDOFManagerX11.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Path-api.cpp b/intern/ghost/intern/GHOST_Path-api.cpp
index 053eb7d03e8..1d5410700c6 100644
--- a/intern/ghost/intern/GHOST_Path-api.cpp
+++ b/intern/ghost/intern/GHOST_Path-api.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Rect.cpp b/intern/ghost/intern/GHOST_Rect.cpp
index 606247814ec..0717259b369 100644
--- a/intern/ghost/intern/GHOST_Rect.cpp
+++ b/intern/ghost/intern/GHOST_Rect.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_System.cpp b/intern/ghost/intern/GHOST_System.cpp
index 64c2c218a07..839e014aff6 100644
--- a/intern/ghost/intern/GHOST_System.cpp
+++ b/intern/ghost/intern/GHOST_System.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -137,7 +136,7 @@ bool GHOST_System::validWindow(GHOST_IWindow* window)
 
 
 GHOST_TSuccess GHOST_System::beginFullScreen(const GHOST_DisplaySetting& setting, GHOST_IWindow** window,
-											 const bool stereoVisual)
+											 const bool stereoVisual, const GHOST_TUns16 numOfAASamples)
 {
 	GHOST_TSuccess success = GHOST_kFailure;
 	GHOST_ASSERT(m_windowManager, "GHOST_System::beginFullScreen(): invalid window manager")
@@ -149,7 +148,7 @@ GHOST_TSuccess GHOST_System::beginFullScreen(const GHOST_DisplaySetting& setting
 			success = m_displayManager->setCurrentDisplaySetting(GHOST_DisplayManager::kMainDisplay, setting);
 			if (success == GHOST_kSuccess) {
 				//GHOST_PRINT("GHOST_System::beginFullScreen(): creating full-screen window\n");
-				success = createFullScreenWindow((GHOST_Window**)window, stereoVisual);
+				success = createFullScreenWindow((GHOST_Window**)window, stereoVisual, numOfAASamples);
 				if (success == GHOST_kSuccess) {
 					m_windowManager->beginFullScreen(*window, stereoVisual);
 				}
@@ -331,7 +330,7 @@ GHOST_TSuccess GHOST_System::exit()
 }
 
 
-GHOST_TSuccess GHOST_System::createFullScreenWindow(GHOST_Window** window, const bool stereoVisual)
+GHOST_TSuccess GHOST_System::createFullScreenWindow(GHOST_Window** window, const bool stereoVisual, const GHOST_TUns16 numOfAASamples)
 {
 	GHOST_TSuccess success;
 	GHOST_ASSERT(m_displayManager, "GHOST_System::createFullScreenWindow(): invalid display manager")
@@ -345,7 +344,8 @@ GHOST_TSuccess GHOST_System::createFullScreenWindow(GHOST_Window** window, const
 					0, 0, settings.xPixels, settings.yPixels,
 					GHOST_kWindowStateFullScreen,
 					GHOST_kDrawingContextTypeOpenGL,
-					stereoVisual);
+					stereoVisual,
+					numOfAASamples);
 		success = *window == 0 ? GHOST_kFailure : GHOST_kSuccess;
 	}
 	return success;
diff --git a/intern/ghost/intern/GHOST_System.h b/intern/ghost/intern/GHOST_System.h
index e5ec8681de1..c958d54f2d0 100644
--- a/intern/ghost/intern/GHOST_System.h
+++ b/intern/ghost/intern/GHOST_System.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -142,7 +141,7 @@ public:
 	 * @return	Indication of success.
 	 */
 	virtual GHOST_TSuccess beginFullScreen(const GHOST_DisplaySetting& setting, GHOST_IWindow** window,
-		const bool stereoVisual);
+		const bool stereoVisual, const GHOST_TUns16 numOfAASamples=0);
 
 	/**
 	 * Ends full screen mode.
@@ -306,7 +305,7 @@ protected:
 	 * @return Indication of success.
 	 */
 	virtual GHOST_TSuccess createFullScreenWindow(GHOST_Window** window,
-		const bool stereoVisual);
+		const bool stereoVisual, const GHOST_TUns16 numOfAASamples=0);
 
 	/** The display manager (platform dependant). */
 	GHOST_DisplayManager* m_displayManager;
diff --git a/intern/ghost/intern/GHOST_SystemCarbon.cpp b/intern/ghost/intern/GHOST_SystemCarbon.cpp
index 762966c9b9e..be58d179aa4 100644
--- a/intern/ghost/intern/GHOST_SystemCarbon.cpp
+++ b/intern/ghost/intern/GHOST_SystemCarbon.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 7, 2001
diff --git a/intern/ghost/intern/GHOST_SystemCarbon.h b/intern/ghost/intern/GHOST_SystemCarbon.h
index dd21d033c6f..1f51b07c7d0 100644
--- a/intern/ghost/intern/GHOST_SystemCarbon.h
+++ b/intern/ghost/intern/GHOST_SystemCarbon.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemCocoa.h b/intern/ghost/intern/GHOST_SystemCocoa.h
index fc4f02e3fd6..470fea7969c 100644
--- a/intern/ghost/intern/GHOST_SystemCocoa.h
+++ b/intern/ghost/intern/GHOST_SystemCocoa.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemCocoa.mm b/intern/ghost/intern/GHOST_SystemCocoa.mm
index 9ec8dd0abad..d9eab56cfdc 100644
--- a/intern/ghost/intern/GHOST_SystemCocoa.mm
+++ b/intern/ghost/intern/GHOST_SystemCocoa.mm
@@ -1,5 +1,4 @@
-/**
- * $Id$
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -1686,6 +1685,10 @@ GHOST_TSuccess GHOST_SystemCocoa::handleKeyEvent(void *eventPtr)
 				}
 			}
 
+			/* arrow keys should not have utf8 */
+			if ((keyCode > 266) && (keyCode < 271))
+				utf8_buf[0] = '\0';
+
 			if ((keyCode == GHOST_kKeyQ) && (m_modifierMask & NSCommandKeyMask))
 				break; //Cmd-Q is directly handled by Cocoa
 
diff --git a/intern/ghost/intern/GHOST_SystemNULL.h b/intern/ghost/intern/GHOST_SystemNULL.h
index 3bc68b45b0d..f89eb77277b 100644
--- a/intern/ghost/intern/GHOST_SystemNULL.h
+++ b/intern/ghost/intern/GHOST_SystemNULL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPaths.h b/intern/ghost/intern/GHOST_SystemPaths.h
index 94cb44c660b..4ee01e899d0 100644
--- a/intern/ghost/intern/GHOST_SystemPaths.h
+++ b/intern/ghost/intern/GHOST_SystemPaths.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsCarbon.cpp b/intern/ghost/intern/GHOST_SystemPathsCarbon.cpp
index dc83e4b0eb6..02d45131f5a 100644
--- a/intern/ghost/intern/GHOST_SystemPathsCarbon.cpp
+++ b/intern/ghost/intern/GHOST_SystemPathsCarbon.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsCarbon.h b/intern/ghost/intern/GHOST_SystemPathsCarbon.h
index 957300f6586..f660148cd35 100644
--- a/intern/ghost/intern/GHOST_SystemPathsCarbon.h
+++ b/intern/ghost/intern/GHOST_SystemPathsCarbon.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsCocoa.h b/intern/ghost/intern/GHOST_SystemPathsCocoa.h
index bfdf92b4274..14fb65c1282 100644
--- a/intern/ghost/intern/GHOST_SystemPathsCocoa.h
+++ b/intern/ghost/intern/GHOST_SystemPathsCocoa.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsCocoa.mm b/intern/ghost/intern/GHOST_SystemPathsCocoa.mm
index 238ce1a46c7..cce07c223e8 100644
--- a/intern/ghost/intern/GHOST_SystemPathsCocoa.mm
+++ b/intern/ghost/intern/GHOST_SystemPathsCocoa.mm
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsWin32.cpp b/intern/ghost/intern/GHOST_SystemPathsWin32.cpp
index 523d119c7e7..379e1963c40 100644
--- a/intern/ghost/intern/GHOST_SystemPathsWin32.cpp
+++ b/intern/ghost/intern/GHOST_SystemPathsWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsWin32.h b/intern/ghost/intern/GHOST_SystemPathsWin32.h
index 3de7bbf934e..3b7ce6f9910 100644
--- a/intern/ghost/intern/GHOST_SystemPathsWin32.h
+++ b/intern/ghost/intern/GHOST_SystemPathsWin32.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsX11.cpp b/intern/ghost/intern/GHOST_SystemPathsX11.cpp
index 135f5c42dc5..1456bdef543 100644
--- a/intern/ghost/intern/GHOST_SystemPathsX11.cpp
+++ b/intern/ghost/intern/GHOST_SystemPathsX11.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemPathsX11.h b/intern/ghost/intern/GHOST_SystemPathsX11.h
index 56862398c74..469f93f5615 100644
--- a/intern/ghost/intern/GHOST_SystemPathsX11.h
+++ b/intern/ghost/intern/GHOST_SystemPathsX11.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemSDL.cpp b/intern/ghost/intern/GHOST_SystemSDL.cpp
index 11bd562f767..dd5124a0aac 100644
--- a/intern/ghost/intern/GHOST_SystemSDL.cpp
+++ b/intern/ghost/intern/GHOST_SystemSDL.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemSDL.h b/intern/ghost/intern/GHOST_SystemSDL.h
index d70bec610d6..51bca331ba4 100644
--- a/intern/ghost/intern/GHOST_SystemSDL.h
+++ b/intern/ghost/intern/GHOST_SystemSDL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemWin32.cpp b/intern/ghost/intern/GHOST_SystemWin32.cpp
index 956a159a4ec..78afe0bd680 100644
--- a/intern/ghost/intern/GHOST_SystemWin32.cpp
+++ b/intern/ghost/intern/GHOST_SystemWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 7, 2001
diff --git a/intern/ghost/intern/GHOST_SystemWin32.h b/intern/ghost/intern/GHOST_SystemWin32.h
index 858312b3eb1..1f40cdd854f 100644
--- a/intern/ghost/intern/GHOST_SystemWin32.h
+++ b/intern/ghost/intern/GHOST_SystemWin32.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemX11.cpp b/intern/ghost/intern/GHOST_SystemX11.cpp
index 209ffe501f4..a5799273fde 100644
--- a/intern/ghost/intern/GHOST_SystemX11.cpp
+++ b/intern/ghost/intern/GHOST_SystemX11.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_SystemX11.h b/intern/ghost/intern/GHOST_SystemX11.h
index af45d68450f..d35d91693e2 100644
--- a/intern/ghost/intern/GHOST_SystemX11.h
+++ b/intern/ghost/intern/GHOST_SystemX11.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_TimerManager.cpp b/intern/ghost/intern/GHOST_TimerManager.cpp
index fac0bb55515..19cfe61a260 100644
--- a/intern/ghost/intern/GHOST_TimerManager.cpp
+++ b/intern/ghost/intern/GHOST_TimerManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 31, 2001
diff --git a/intern/ghost/intern/GHOST_TimerManager.h b/intern/ghost/intern/GHOST_TimerManager.h
index fe08fe3a002..f7d1726905e 100644
--- a/intern/ghost/intern/GHOST_TimerManager.h
+++ b/intern/ghost/intern/GHOST_TimerManager.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_TimerTask.h b/intern/ghost/intern/GHOST_TimerTask.h
index 945cbb7553a..01bf0053343 100644
--- a/intern/ghost/intern/GHOST_TimerTask.h
+++ b/intern/ghost/intern/GHOST_TimerTask.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Window.cpp b/intern/ghost/intern/GHOST_Window.cpp
index e34bfe7ff26..0545b309f4b 100644
--- a/intern/ghost/intern/GHOST_Window.cpp
+++ b/intern/ghost/intern/GHOST_Window.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_Window.h b/intern/ghost/intern/GHOST_Window.h
index 341c1e23463..a9f070b8951 100644
--- a/intern/ghost/intern/GHOST_Window.h
+++ b/intern/ghost/intern/GHOST_Window.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowCarbon.cpp b/intern/ghost/intern/GHOST_WindowCarbon.cpp
index c8bd67f9a5c..b226d5ec83e 100644
--- a/intern/ghost/intern/GHOST_WindowCarbon.cpp
+++ b/intern/ghost/intern/GHOST_WindowCarbon.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 10, 2001
diff --git a/intern/ghost/intern/GHOST_WindowCarbon.h b/intern/ghost/intern/GHOST_WindowCarbon.h
index a4386ce884b..331e228a663 100644
--- a/intern/ghost/intern/GHOST_WindowCarbon.h
+++ b/intern/ghost/intern/GHOST_WindowCarbon.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowCocoa.h b/intern/ghost/intern/GHOST_WindowCocoa.h
index a5f195153dd..46bded630ff 100644
--- a/intern/ghost/intern/GHOST_WindowCocoa.h
+++ b/intern/ghost/intern/GHOST_WindowCocoa.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowCocoa.mm b/intern/ghost/intern/GHOST_WindowCocoa.mm
index faae903827d..7bb1913d872 100644
--- a/intern/ghost/intern/GHOST_WindowCocoa.mm
+++ b/intern/ghost/intern/GHOST_WindowCocoa.mm
@@ -1,5 +1,4 @@
-/**
- * $Id$
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowManager.cpp b/intern/ghost/intern/GHOST_WindowManager.cpp
index 87218280852..a4b65c78ef9 100644
--- a/intern/ghost/intern/GHOST_WindowManager.cpp
+++ b/intern/ghost/intern/GHOST_WindowManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 11, 2001
diff --git a/intern/ghost/intern/GHOST_WindowManager.h b/intern/ghost/intern/GHOST_WindowManager.h
index b4baf8985fc..12999badac5 100644
--- a/intern/ghost/intern/GHOST_WindowManager.h
+++ b/intern/ghost/intern/GHOST_WindowManager.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowNULL.h b/intern/ghost/intern/GHOST_WindowNULL.h
index f979313af5c..f65b719a385 100644
--- a/intern/ghost/intern/GHOST_WindowNULL.h
+++ b/intern/ghost/intern/GHOST_WindowNULL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowSDL.cpp b/intern/ghost/intern/GHOST_WindowSDL.cpp
index 1675c1fb12b..dce844949ad 100644
--- a/intern/ghost/intern/GHOST_WindowSDL.cpp
+++ b/intern/ghost/intern/GHOST_WindowSDL.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowSDL.h b/intern/ghost/intern/GHOST_WindowSDL.h
index 62e1a71227f..a8a130f0481 100644
--- a/intern/ghost/intern/GHOST_WindowSDL.h
+++ b/intern/ghost/intern/GHOST_WindowSDL.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowWin32.cpp b/intern/ghost/intern/GHOST_WindowWin32.cpp
index fbab3df1351..cd5eff18be5 100644
--- a/intern/ghost/intern/GHOST_WindowWin32.cpp
+++ b/intern/ghost/intern/GHOST_WindowWin32.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * @author	Maarten Gribnau
  * @date	May 10, 2001
diff --git a/intern/ghost/intern/GHOST_WindowWin32.h b/intern/ghost/intern/GHOST_WindowWin32.h
index 70914d9d2ef..b24f37aa264 100644
--- a/intern/ghost/intern/GHOST_WindowWin32.h
+++ b/intern/ghost/intern/GHOST_WindowWin32.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowX11.cpp b/intern/ghost/intern/GHOST_WindowX11.cpp
index d26224d956a..1c729fc0772 100644
--- a/intern/ghost/intern/GHOST_WindowX11.cpp
+++ b/intern/ghost/intern/GHOST_WindowX11.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/intern/GHOST_WindowX11.h b/intern/ghost/intern/GHOST_WindowX11.h
index ee662945eaa..f1146db50f8 100644
--- a/intern/ghost/intern/GHOST_WindowX11.h
+++ b/intern/ghost/intern/GHOST_WindowX11.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/gears/GHOST_C-Test.c b/intern/ghost/test/gears/GHOST_C-Test.c
index 190857403bd..b26d8e09430 100644
--- a/intern/ghost/test/gears/GHOST_C-Test.c
+++ b/intern/ghost/test/gears/GHOST_C-Test.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -28,7 +27,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  *
  * Simple test file for the GHOST library.
diff --git a/intern/ghost/test/gears/GHOST_Test.cpp b/intern/ghost/test/gears/GHOST_Test.cpp
index 930faf463b6..23a82cb9fbd 100644
--- a/intern/ghost/test/gears/GHOST_Test.cpp
+++ b/intern/ghost/test/gears/GHOST_Test.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -28,7 +27,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * Simple test file for the GHOST library.
  * The OpenGL gear code is taken from the Qt sample code which,
diff --git a/intern/ghost/test/multitest/Basic.c b/intern/ghost/test/multitest/Basic.c
index 1510c47f28a..4453a074484 100644
--- a/intern/ghost/test/multitest/Basic.c
+++ b/intern/ghost/test/multitest/Basic.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/Basic.h b/intern/ghost/test/multitest/Basic.h
index 46629c446d4..c8f61d40c57 100644
--- a/intern/ghost/test/multitest/Basic.h
+++ b/intern/ghost/test/multitest/Basic.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/EventToBuf.c b/intern/ghost/test/multitest/EventToBuf.c
index 859600bb783..f58d243fb0b 100644
--- a/intern/ghost/test/multitest/EventToBuf.c
+++ b/intern/ghost/test/multitest/EventToBuf.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/EventToBuf.h b/intern/ghost/test/multitest/EventToBuf.h
index 12dcb23f993..23b61a4cf2a 100644
--- a/intern/ghost/test/multitest/EventToBuf.h
+++ b/intern/ghost/test/multitest/EventToBuf.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/GL.h b/intern/ghost/test/multitest/GL.h
index 1a0b322a136..4a82623f9f9 100644
--- a/intern/ghost/test/multitest/GL.h
+++ b/intern/ghost/test/multitest/GL.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/MultiTest.c b/intern/ghost/test/multitest/MultiTest.c
index 1ba28d21808..f148ddfc485 100644
--- a/intern/ghost/test/multitest/MultiTest.c
+++ b/intern/ghost/test/multitest/MultiTest.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/ScrollBar.c b/intern/ghost/test/multitest/ScrollBar.c
index 7574a5c85f1..25a34dd8e70 100644
--- a/intern/ghost/test/multitest/ScrollBar.c
+++ b/intern/ghost/test/multitest/ScrollBar.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/ScrollBar.h b/intern/ghost/test/multitest/ScrollBar.h
index a0a850f69aa..8c8d02d197e 100644
--- a/intern/ghost/test/multitest/ScrollBar.h
+++ b/intern/ghost/test/multitest/ScrollBar.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/Util.c b/intern/ghost/test/multitest/Util.c
index abc4c2651e4..dfef6e347b0 100644
--- a/intern/ghost/test/multitest/Util.c
+++ b/intern/ghost/test/multitest/Util.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/Util.h b/intern/ghost/test/multitest/Util.h
index e4e73a19fec..4652a0bbf4d 100644
--- a/intern/ghost/test/multitest/Util.h
+++ b/intern/ghost/test/multitest/Util.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/WindowData.c b/intern/ghost/test/multitest/WindowData.c
index 0a4c2aa8d00..1eac99635c5 100644
--- a/intern/ghost/test/multitest/WindowData.c
+++ b/intern/ghost/test/multitest/WindowData.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/ghost/test/multitest/WindowData.h b/intern/ghost/test/multitest/WindowData.h
index 50d8aa3783a..f8198101b8d 100644
--- a/intern/ghost/test/multitest/WindowData.h
+++ b/intern/ghost/test/multitest/WindowData.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/CMakeLists.txt b/intern/guardedalloc/CMakeLists.txt
index b3fe29af570..4b6fe0fbc73 100644
--- a/intern/guardedalloc/CMakeLists.txt
+++ b/intern/guardedalloc/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/MEM_guardedalloc.h b/intern/guardedalloc/MEM_guardedalloc.h
index f96a49b9f4a..7285843aece 100644
--- a/intern/guardedalloc/MEM_guardedalloc.h
+++ b/intern/guardedalloc/MEM_guardedalloc.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/MEM_sys_types.h b/intern/guardedalloc/MEM_sys_types.h
index 23c367d765a..345df5b16cf 100644
--- a/intern/guardedalloc/MEM_sys_types.h
+++ b/intern/guardedalloc/MEM_sys_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/cpp/mallocn.cpp b/intern/guardedalloc/cpp/mallocn.cpp
index 0615d19d77f..97e68d06ace 100644
--- a/intern/guardedalloc/cpp/mallocn.cpp
+++ b/intern/guardedalloc/cpp/mallocn.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/intern/mallocn.c b/intern/guardedalloc/intern/mallocn.c
index cedaf53a4bb..f8825bab66c 100644
--- a/intern/guardedalloc/intern/mallocn.c
+++ b/intern/guardedalloc/intern/mallocn.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * Guarded memory allocation, and boundary-write detection.
  */
diff --git a/intern/guardedalloc/intern/mmap_win.c b/intern/guardedalloc/intern/mmap_win.c
index 24b48d713ef..f2315f65924 100644
--- a/intern/guardedalloc/intern/mmap_win.c
+++ b/intern/guardedalloc/intern/mmap_win.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/mmap_win.h b/intern/guardedalloc/mmap_win.h
index 7e85a79a2ac..fa8d3b24815 100644
--- a/intern/guardedalloc/mmap_win.h
+++ b/intern/guardedalloc/mmap_win.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/guardedalloc/test/simpletest/memtest.c b/intern/guardedalloc/test/simpletest/memtest.c
index 6b3af8b310c..d484e6f51ff 100644
--- a/intern/guardedalloc/test/simpletest/memtest.c
+++ b/intern/guardedalloc/test/simpletest/memtest.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -28,7 +27,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * Simple test of memory.
  */
diff --git a/intern/iksolver/CMakeLists.txt b/intern/iksolver/CMakeLists.txt
index 5a7c0978599..119cb6eaff0 100644
--- a/intern/iksolver/CMakeLists.txt
+++ b/intern/iksolver/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/extern/IK_solver.h b/intern/iksolver/extern/IK_solver.h
index 817ee3a02c5..179bd4a95b1 100644
--- a/intern/iksolver/extern/IK_solver.h
+++ b/intern/iksolver/extern/IK_solver.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -34,7 +33,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  *
  * @author Laurence, Brecht
diff --git a/intern/iksolver/intern/IK_QJacobian.cpp b/intern/iksolver/intern/IK_QJacobian.cpp
index 5a216309cee..e85da6eda4a 100644
--- a/intern/iksolver/intern/IK_QJacobian.cpp
+++ b/intern/iksolver/intern/IK_QJacobian.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QJacobian.h b/intern/iksolver/intern/IK_QJacobian.h
index ecfaee5ff97..c975989309b 100644
--- a/intern/iksolver/intern/IK_QJacobian.h
+++ b/intern/iksolver/intern/IK_QJacobian.h
@@ -1,6 +1,5 @@
 
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QJacobianSolver.cpp b/intern/iksolver/intern/IK_QJacobianSolver.cpp
index f4f41d23c44..fe5ecf8abe3 100644
--- a/intern/iksolver/intern/IK_QJacobianSolver.cpp
+++ b/intern/iksolver/intern/IK_QJacobianSolver.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QJacobianSolver.h b/intern/iksolver/intern/IK_QJacobianSolver.h
index b87ad2322ab..56d38147e3c 100644
--- a/intern/iksolver/intern/IK_QJacobianSolver.h
+++ b/intern/iksolver/intern/IK_QJacobianSolver.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QSegment.cpp b/intern/iksolver/intern/IK_QSegment.cpp
index ba4fbb88542..d81ed453037 100644
--- a/intern/iksolver/intern/IK_QSegment.cpp
+++ b/intern/iksolver/intern/IK_QSegment.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QSegment.h b/intern/iksolver/intern/IK_QSegment.h
index c34a40d2082..9037f8750f4 100644
--- a/intern/iksolver/intern/IK_QSegment.h
+++ b/intern/iksolver/intern/IK_QSegment.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QTask.cpp b/intern/iksolver/intern/IK_QTask.cpp
index 32143518533..e050bb00658 100644
--- a/intern/iksolver/intern/IK_QTask.cpp
+++ b/intern/iksolver/intern/IK_QTask.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_QTask.h b/intern/iksolver/intern/IK_QTask.h
index eaf4705ce9d..379866de8f7 100644
--- a/intern/iksolver/intern/IK_QTask.h
+++ b/intern/iksolver/intern/IK_QTask.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/IK_Solver.cpp b/intern/iksolver/intern/IK_Solver.cpp
index 74fcc082929..af49b07d064 100644
--- a/intern/iksolver/intern/IK_Solver.cpp
+++ b/intern/iksolver/intern/IK_Solver.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/MT_ExpMap.cpp b/intern/iksolver/intern/MT_ExpMap.cpp
index 7bce8f5f792..c997d434861 100644
--- a/intern/iksolver/intern/MT_ExpMap.cpp
+++ b/intern/iksolver/intern/MT_ExpMap.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/MT_ExpMap.h b/intern/iksolver/intern/MT_ExpMap.h
index 500a0b90a46..9485428dc9f 100644
--- a/intern/iksolver/intern/MT_ExpMap.h
+++ b/intern/iksolver/intern/MT_ExpMap.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/intern/TNT/cholesky.h b/intern/iksolver/intern/TNT/cholesky.h
index 3a8011c374c..89c7dc64d5b 100644
--- a/intern/iksolver/intern/TNT/cholesky.h
+++ b/intern/iksolver/intern/TNT/cholesky.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/cmat.h b/intern/iksolver/intern/TNT/cmat.h
index c6d701b30fc..146afdc79d7 100644
--- a/intern/iksolver/intern/TNT/cmat.h
+++ b/intern/iksolver/intern/TNT/cmat.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/fcscmat.h b/intern/iksolver/intern/TNT/fcscmat.h
index 7f08bd8d93b..8865dc7a039 100644
--- a/intern/iksolver/intern/TNT/fcscmat.h
+++ b/intern/iksolver/intern/TNT/fcscmat.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/fmat.h b/intern/iksolver/intern/TNT/fmat.h
index daba50c993f..edb64003143 100644
--- a/intern/iksolver/intern/TNT/fmat.h
+++ b/intern/iksolver/intern/TNT/fmat.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/fortran.h b/intern/iksolver/intern/TNT/fortran.h
index 0837a918a0a..c58a859741b 100644
--- a/intern/iksolver/intern/TNT/fortran.h
+++ b/intern/iksolver/intern/TNT/fortran.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/fspvec.h b/intern/iksolver/intern/TNT/fspvec.h
index 1fafccdfe93..8b14fa89216 100644
--- a/intern/iksolver/intern/TNT/fspvec.h
+++ b/intern/iksolver/intern/TNT/fspvec.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/index.h b/intern/iksolver/intern/TNT/index.h
index 71f254e47b9..1abe20ba729 100644
--- a/intern/iksolver/intern/TNT/index.h
+++ b/intern/iksolver/intern/TNT/index.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/lapack.h b/intern/iksolver/intern/TNT/lapack.h
index 043400cd211..e015fa9b617 100644
--- a/intern/iksolver/intern/TNT/lapack.h
+++ b/intern/iksolver/intern/TNT/lapack.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/lu.h b/intern/iksolver/intern/TNT/lu.h
index 40b474bb532..f64172bd31f 100644
--- a/intern/iksolver/intern/TNT/lu.h
+++ b/intern/iksolver/intern/TNT/lu.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/qr.h b/intern/iksolver/intern/TNT/qr.h
index 954dad468af..9df34e2d7cc 100644
--- a/intern/iksolver/intern/TNT/qr.h
+++ b/intern/iksolver/intern/TNT/qr.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/region1d.h b/intern/iksolver/intern/TNT/region1d.h
index e670360fda4..8acaac3ae23 100644
--- a/intern/iksolver/intern/TNT/region1d.h
+++ b/intern/iksolver/intern/TNT/region1d.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/region2d.h b/intern/iksolver/intern/TNT/region2d.h
index 364edd76689..6af50262382 100644
--- a/intern/iksolver/intern/TNT/region2d.h
+++ b/intern/iksolver/intern/TNT/region2d.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/stopwatch.h b/intern/iksolver/intern/TNT/stopwatch.h
index 30cc0fd1641..55cd532d6a4 100644
--- a/intern/iksolver/intern/TNT/stopwatch.h
+++ b/intern/iksolver/intern/TNT/stopwatch.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/subscript.h b/intern/iksolver/intern/TNT/subscript.h
index d9e037c43fd..75555e1c0b6 100644
--- a/intern/iksolver/intern/TNT/subscript.h
+++ b/intern/iksolver/intern/TNT/subscript.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/svd.h b/intern/iksolver/intern/TNT/svd.h
index 9ae289474a9..cfff73caa3f 100644
--- a/intern/iksolver/intern/TNT/svd.h
+++ b/intern/iksolver/intern/TNT/svd.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 #ifndef SVD_H
diff --git a/intern/iksolver/intern/TNT/tnt.h b/intern/iksolver/intern/TNT/tnt.h
index 6c65a0bedcd..c15ae27c547 100644
--- a/intern/iksolver/intern/TNT/tnt.h
+++ b/intern/iksolver/intern/TNT/tnt.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/tntmath.h b/intern/iksolver/intern/TNT/tntmath.h
index 55a79e2aba0..a1fef28075c 100644
--- a/intern/iksolver/intern/TNT/tntmath.h
+++ b/intern/iksolver/intern/TNT/tntmath.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/tntreqs.h b/intern/iksolver/intern/TNT/tntreqs.h
index 75b79fd86a9..2ee124d5940 100644
--- a/intern/iksolver/intern/TNT/tntreqs.h
+++ b/intern/iksolver/intern/TNT/tntreqs.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/transv.h b/intern/iksolver/intern/TNT/transv.h
index dca3d09b4ac..5500cecff40 100644
--- a/intern/iksolver/intern/TNT/transv.h
+++ b/intern/iksolver/intern/TNT/transv.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/triang.h b/intern/iksolver/intern/TNT/triang.h
index 73b98afbb40..10ec2cb18c3 100644
--- a/intern/iksolver/intern/TNT/triang.h
+++ b/intern/iksolver/intern/TNT/triang.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/trisolve.h b/intern/iksolver/intern/TNT/trisolve.h
index 255eb0ca0c6..e6e2a0afe3a 100644
--- a/intern/iksolver/intern/TNT/trisolve.h
+++ b/intern/iksolver/intern/TNT/trisolve.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/vec.h b/intern/iksolver/intern/TNT/vec.h
index 040097afbd9..ff1b5c0ea0e 100644
--- a/intern/iksolver/intern/TNT/vec.h
+++ b/intern/iksolver/intern/TNT/vec.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/vecadaptor.h b/intern/iksolver/intern/TNT/vecadaptor.h
index ef2e66f19e0..77d4e2c05a4 100644
--- a/intern/iksolver/intern/TNT/vecadaptor.h
+++ b/intern/iksolver/intern/TNT/vecadaptor.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 /*
diff --git a/intern/iksolver/intern/TNT/version.h b/intern/iksolver/intern/TNT/version.h
index 55aefbdf31d..58017dd80f9 100644
--- a/intern/iksolver/intern/TNT/version.h
+++ b/intern/iksolver/intern/TNT/version.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  */
 
 // Template Numerical Toolkit (TNT) for Linear Algebra
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp
index 1882038163d..b138dd18725 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp
+++ b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h
index 44f2438bbfd..4dfcfa1769e 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h
+++ b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp
index c7c592204e8..0b7a16b032b 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp
+++ b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h
index 230932d6acd..61cd7a25ac0 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h
+++ b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp
index 98e36af5c79..c426f933e67 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp
+++ b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h
index 77c0ac36d65..50fb37c267e 100644
--- a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h
+++ b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
index 4ba75b93a18..5975eaa7c65 100644
--- a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
+++ b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h b/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h
index 2d25b211a68..2ac9b25d13a 100644
--- a/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h
+++ b/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h b/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h
index 21b8d84952c..5d94db44698 100644
--- a/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h
+++ b/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/iksolver/test/ik_glut_test/intern/main.cpp b/intern/iksolver/test/ik_glut_test/intern/main.cpp
index f2e91ee9c31..86fea76ef70 100644
--- a/intern/iksolver/test/ik_glut_test/intern/main.cpp
+++ b/intern/iksolver/test/ik_glut_test/intern/main.cpp
@@ -1,5 +1,4 @@
 /**
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp
index f2b6d427302..916b0bc7bf3 100644
--- a/intern/itasc/Armature.cpp
+++ b/intern/itasc/Armature.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/Armature.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * Armature.cpp
  *
  *  Created on: Feb 3, 2009
diff --git a/intern/itasc/Armature.hpp b/intern/itasc/Armature.hpp
index 312ca1b28c3..0f4abeab4f0 100644
--- a/intern/itasc/Armature.hpp
+++ b/intern/itasc/Armature.hpp
@@ -1,4 +1,4 @@
-/* $Id: Armature.hpp 20853 2009-06-13 12:29:46Z ben2610 $
+/* 
  * Armature.hpp
  *
  *  Created on: Feb 3, 2009
diff --git a/intern/itasc/CMakeLists.txt b/intern/itasc/CMakeLists.txt
index 26b61f5c6ce..3d24a0cb8c6 100644
--- a/intern/itasc/CMakeLists.txt
+++ b/intern/itasc/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 19905 2009-04-23 13:29:54Z ben2610 $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -25,7 +24,7 @@
 # ***** END GPL LICENSE BLOCK *****
 
 set(INC
-	../../extern/Eigen2
+	../../extern/Eigen3
 )
 
 set(INC_SYS
@@ -47,6 +46,8 @@ set(SRC
 	WSDLSSolver.cpp
 	WorldObject.cpp
 	eigen_types.cpp
+	ublas_types.hpp
+
 	kdl/chain.cpp
 	kdl/chainfksolverpos_recursive.cpp
 	kdl/chainjnttojacsolver.cpp
@@ -114,116 +115,211 @@ set(SRC
 	kdl/utilities/traits.h
 	kdl/utilities/utility.h
 	kdl/utilities/utility_io.h
-	ublas_types.hpp
+
+	kdl/frameacc.inl
+	kdl/frames.inl
+	kdl/framevel.inl
 
 	# until we have another user...
-	../../extern/Eigen2/Eigen/src/Array/BooleanRedux.h
-	../../extern/Eigen2/Eigen/src/Array/CwiseOperators.h
-	../../extern/Eigen2/Eigen/src/Array/Functors.h
-	../../extern/Eigen2/Eigen/src/Array/Norms.h
-	../../extern/Eigen2/Eigen/src/Array/PartialRedux.h
-	../../extern/Eigen2/Eigen/src/Array/Random.h
-	../../extern/Eigen2/Eigen/src/Array/Select.h
-	../../extern/Eigen2/Eigen/src/Cholesky/LDLT.h
-	../../extern/Eigen2/Eigen/src/Cholesky/LLT.h
-	../../extern/Eigen2/Eigen/src/Core/Assign.h
-	../../extern/Eigen2/Eigen/src/Core/Block.h
-	../../extern/Eigen2/Eigen/src/Core/CacheFriendlyProduct.h
-	../../extern/Eigen2/Eigen/src/Core/Coeffs.h
-	../../extern/Eigen2/Eigen/src/Core/CommaInitializer.h
-	../../extern/Eigen2/Eigen/src/Core/Cwise.h
-	../../extern/Eigen2/Eigen/src/Core/CwiseBinaryOp.h
-	../../extern/Eigen2/Eigen/src/Core/CwiseNullaryOp.h
-	../../extern/Eigen2/Eigen/src/Core/CwiseUnaryOp.h
-	../../extern/Eigen2/Eigen/src/Core/DiagonalCoeffs.h
-	../../extern/Eigen2/Eigen/src/Core/DiagonalMatrix.h
-	../../extern/Eigen2/Eigen/src/Core/DiagonalProduct.h
-	../../extern/Eigen2/Eigen/src/Core/Dot.h
-	../../extern/Eigen2/Eigen/src/Core/Flagged.h
-	../../extern/Eigen2/Eigen/src/Core/Functors.h
-	../../extern/Eigen2/Eigen/src/Core/Fuzzy.h
-	../../extern/Eigen2/Eigen/src/Core/GenericPacketMath.h
-	../../extern/Eigen2/Eigen/src/Core/IO.h
-	../../extern/Eigen2/Eigen/src/Core/Map.h
-	../../extern/Eigen2/Eigen/src/Core/MapBase.h
-	../../extern/Eigen2/Eigen/src/Core/MathFunctions.h
-	../../extern/Eigen2/Eigen/src/Core/Matrix.h
-	../../extern/Eigen2/Eigen/src/Core/MatrixBase.h
-	../../extern/Eigen2/Eigen/src/Core/MatrixStorage.h
-	../../extern/Eigen2/Eigen/src/Core/Minor.h
-	../../extern/Eigen2/Eigen/src/Core/NestByValue.h
-	../../extern/Eigen2/Eigen/src/Core/NumTraits.h
-	../../extern/Eigen2/Eigen/src/Core/Part.h
-	../../extern/Eigen2/Eigen/src/Core/Product.h
-	../../extern/Eigen2/Eigen/src/Core/Redux.h
-	../../extern/Eigen2/Eigen/src/Core/SolveTriangular.h
-	../../extern/Eigen2/Eigen/src/Core/Sum.h
-	../../extern/Eigen2/Eigen/src/Core/Swap.h
-	../../extern/Eigen2/Eigen/src/Core/Transpose.h
-	../../extern/Eigen2/Eigen/src/Core/Visitor.h
-	../../extern/Eigen2/Eigen/src/Core/arch/AltiVec/PacketMath.h
-	../../extern/Eigen2/Eigen/src/Core/arch/SSE/PacketMath.h
-	../../extern/Eigen2/Eigen/src/Core/util/Constants.h
-	../../extern/Eigen2/Eigen/src/Core/util/DisableMSVCWarnings.h
-	../../extern/Eigen2/Eigen/src/Core/util/EnableMSVCWarnings.h
-	../../extern/Eigen2/Eigen/src/Core/util/ForwardDeclarations.h
-	../../extern/Eigen2/Eigen/src/Core/util/Macros.h
-	../../extern/Eigen2/Eigen/src/Core/util/Memory.h
-	../../extern/Eigen2/Eigen/src/Core/util/Meta.h
-	../../extern/Eigen2/Eigen/src/Core/util/StaticAssert.h
-	../../extern/Eigen2/Eigen/src/Core/util/XprHelper.h
-	../../extern/Eigen2/Eigen/src/Geometry/AlignedBox.h
-	../../extern/Eigen2/Eigen/src/Geometry/AngleAxis.h
-	../../extern/Eigen2/Eigen/src/Geometry/EulerAngles.h
-	../../extern/Eigen2/Eigen/src/Geometry/Hyperplane.h
-	../../extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h
-	../../extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h
-	../../extern/Eigen2/Eigen/src/Geometry/Quaternion.h
-	../../extern/Eigen2/Eigen/src/Geometry/Rotation2D.h
-	../../extern/Eigen2/Eigen/src/Geometry/RotationBase.h
-	../../extern/Eigen2/Eigen/src/Geometry/Scaling.h
-	../../extern/Eigen2/Eigen/src/Geometry/Transform.h
-	../../extern/Eigen2/Eigen/src/Geometry/Translation.h
-	../../extern/Eigen2/Eigen/src/LU/Determinant.h
-	../../extern/Eigen2/Eigen/src/LU/Inverse.h
-	../../extern/Eigen2/Eigen/src/LU/LU.h
-	../../extern/Eigen2/Eigen/src/LeastSquares/LeastSquares.h
-	../../extern/Eigen2/Eigen/src/QR/EigenSolver.h
-	../../extern/Eigen2/Eigen/src/QR/HessenbergDecomposition.h
-	../../extern/Eigen2/Eigen/src/QR/QR.h
-	../../extern/Eigen2/Eigen/src/QR/SelfAdjointEigenSolver.h
-	../../extern/Eigen2/Eigen/src/QR/Tridiagonalization.h
-	../../extern/Eigen2/Eigen/src/SVD/SVD.h
-	../../extern/Eigen2/Eigen/src/Sparse/AmbiVector.h
-	../../extern/Eigen2/Eigen/src/Sparse/CholmodSupport.h
-	../../extern/Eigen2/Eigen/src/Sparse/CompressedStorage.h
-	../../extern/Eigen2/Eigen/src/Sparse/CoreIterators.h
-	../../extern/Eigen2/Eigen/src/Sparse/DynamicSparseMatrix.h
-	../../extern/Eigen2/Eigen/src/Sparse/MappedSparseMatrix.h
-	../../extern/Eigen2/Eigen/src/Sparse/RandomSetter.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseAssign.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseBlock.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseCwise.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseCwiseBinaryOp.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseCwiseUnaryOp.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseDiagonalProduct.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseDot.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseFlagged.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseFuzzy.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseLDLT.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseLLT.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseLU.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseMatrix.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseMatrixBase.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseProduct.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseRedux.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseTranspose.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseUtil.h
-	../../extern/Eigen2/Eigen/src/Sparse/SparseVector.h
-	../../extern/Eigen2/Eigen/src/Sparse/SuperLUSupport.h
-	../../extern/Eigen2/Eigen/src/Sparse/TaucsSupport.h
-	../../extern/Eigen2/Eigen/src/Sparse/TriangularSolver.h
-	../../extern/Eigen2/Eigen/src/Sparse/UmfPackSupport.h
+	../../extern/Eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+	../../extern/Eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
+	../../extern/Eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+	../../extern/Eigen3/Eigen/src/plugins/BlockMethods.h
+	../../extern/Eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+	../../extern/Eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+	../../extern/Eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
+	../../extern/Eigen3/Eigen/src/misc/Kernel.h
+	../../extern/Eigen3/Eigen/src/misc/Image.h
+	../../extern/Eigen3/Eigen/src/misc/Solve.h
+	../../extern/Eigen3/Eigen/src/QR/HouseholderQR.h
+	../../extern/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h
+	../../extern/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h
+	../../extern/Eigen3/Eigen/src/StlSupport/details.h
+	../../extern/Eigen3/Eigen/src/StlSupport/StdList.h
+	../../extern/Eigen3/Eigen/src/StlSupport/StdDeque.h
+	../../extern/Eigen3/Eigen/src/StlSupport/StdVector.h
+	../../extern/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h
+	../../extern/Eigen3/Eigen/src/SVD/JacobiSVD.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/RealSchur.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/EigenvaluesCommon.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
+	../../extern/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h
+	../../extern/Eigen3/Eigen/src/Jacobi/Jacobi.h
+	../../extern/Eigen3/Eigen/src/Householder/Householder.h
+	../../extern/Eigen3/Eigen/src/Householder/BlockHouseholder.h
+	../../extern/Eigen3/Eigen/src/Householder/HouseholderSequence.h
+	../../extern/Eigen3/Eigen/src/Geometry/RotationBase.h
+	../../extern/Eigen3/Eigen/src/Geometry/Rotation2D.h
+	../../extern/Eigen3/Eigen/src/Geometry/Homogeneous.h
+	../../extern/Eigen3/Eigen/src/Geometry/Hyperplane.h
+	../../extern/Eigen3/Eigen/src/Geometry/EulerAngles.h
+	../../extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
+	../../extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h
+	../../extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h
+	../../extern/Eigen3/Eigen/src/Geometry/AngleAxis.h
+	../../extern/Eigen3/Eigen/src/Geometry/Umeyama.h
+	../../extern/Eigen3/Eigen/src/Geometry/Scaling.h
+	../../extern/Eigen3/Eigen/src/Geometry/Translation.h
+	../../extern/Eigen3/Eigen/src/Geometry/AlignedBox.h
+	../../extern/Eigen3/Eigen/src/Geometry/Transform.h
+	../../extern/Eigen3/Eigen/src/Geometry/Quaternion.h
+	../../extern/Eigen3/Eigen/src/LU/PartialPivLU.h
+	../../extern/Eigen3/Eigen/src/LU/Determinant.h
+	../../extern/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h
+	../../extern/Eigen3/Eigen/src/LU/FullPivLU.h
+	../../extern/Eigen3/Eigen/src/LU/Inverse.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseMatrixBase.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseSelfAdjointView.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseVector.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseDiagonalProduct.h
+	../../extern/Eigen3/Eigen/src/Sparse/TriangularSolver.h
+	../../extern/Eigen3/Eigen/src/Sparse/AmbiVector.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseDenseProduct.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseBlock.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseTriangularView.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseCwiseBinaryOp.h
+	../../extern/Eigen3/Eigen/src/Sparse/CoreIterators.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseMatrix.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseAssign.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseSparseProduct.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseDot.h
+	../../extern/Eigen3/Eigen/src/Sparse/DynamicSparseMatrix.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseRedux.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseFuzzy.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseCwiseUnaryOp.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseView.h
+	../../extern/Eigen3/Eigen/src/Sparse/MappedSparseMatrix.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseUtil.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseTranspose.h
+	../../extern/Eigen3/Eigen/src/Sparse/SparseProduct.h
+	../../extern/Eigen3/Eigen/src/Sparse/CompressedStorage.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Cwise.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/TriangularSolver.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/QR.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Lazy.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Memory.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/SVD.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/CwiseOperators.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/VectorBlock.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Meta.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Macros.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/LeastSquares.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/LU.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Block.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/All.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/Minor.h
+	../../extern/Eigen3/Eigen/src/Eigen2Support/MathFunctions.h
+	../../extern/Eigen3/Eigen/src/Core/SelfAdjointView.h
+	../../extern/Eigen3/Eigen/src/Core/MatrixBase.h
+	../../extern/Eigen3/Eigen/src/Core/Swap.h
+	../../extern/Eigen3/Eigen/src/Core/DenseCoeffsBase.h
+	../../extern/Eigen3/Eigen/src/Core/DenseBase.h
+	../../extern/Eigen3/Eigen/src/Core/GlobalFunctions.h
+	../../extern/Eigen3/Eigen/src/Core/ProductBase.h
+	../../extern/Eigen3/Eigen/src/Core/CwiseBinaryOp.h
+	../../extern/Eigen3/Eigen/src/Core/Stride.h
+	../../extern/Eigen3/Eigen/src/Core/Matrix.h
+	../../extern/Eigen3/Eigen/src/Core/Visitor.h
+	../../extern/Eigen3/Eigen/src/Core/Array.h
+	../../extern/Eigen3/Eigen/src/Core/ReturnByValue.h
+	../../extern/Eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
+	../../extern/Eigen3/Eigen/src/Core/EigenBase.h
+	../../extern/Eigen3/Eigen/src/Core/Random.h
+	../../extern/Eigen3/Eigen/src/Core/Redux.h
+	../../extern/Eigen3/Eigen/src/Core/arch/Default/Settings.h
+	../../extern/Eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
+	../../extern/Eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
+	../../extern/Eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
+	../../extern/Eigen3/Eigen/src/Core/arch/NEON/Complex.h
+	../../extern/Eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
+	../../extern/Eigen3/Eigen/src/Core/arch/SSE/Complex.h
+	../../extern/Eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
+	../../extern/Eigen3/Eigen/src/Core/BooleanRedux.h
+	../../extern/Eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+	../../extern/Eigen3/Eigen/src/Core/util/BlasUtil.h
+	../../extern/Eigen3/Eigen/src/Core/util/Memory.h
+	../../extern/Eigen3/Eigen/src/Core/util/Meta.h
+	../../extern/Eigen3/Eigen/src/Core/util/Constants.h
+	../../extern/Eigen3/Eigen/src/Core/util/Macros.h
+	../../extern/Eigen3/Eigen/src/Core/util/ForwardDeclarations.h
+	../../extern/Eigen3/Eigen/src/Core/util/StaticAssert.h
+	../../extern/Eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+	../../extern/Eigen3/Eigen/src/Core/util/XprHelper.h
+	../../extern/Eigen3/Eigen/src/Core/VectorBlock.h
+	../../extern/Eigen3/Eigen/src/Core/Transpositions.h
+	../../extern/Eigen3/Eigen/src/Core/Select.h
+	../../extern/Eigen3/Eigen/src/Core/BandMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/CwiseUnaryView.h
+	../../extern/Eigen3/Eigen/src/Core/Dot.h
+	../../extern/Eigen3/Eigen/src/Core/GenericPacketMath.h
+	../../extern/Eigen3/Eigen/src/Core/Product.h
+	../../extern/Eigen3/Eigen/src/Core/Transpose.h
+	../../extern/Eigen3/Eigen/src/Core/Block.h
+	../../extern/Eigen3/Eigen/src/Core/ArrayWrapper.h
+	../../extern/Eigen3/Eigen/src/Core/MapBase.h
+	../../extern/Eigen3/Eigen/src/Core/NoAlias.h
+	../../extern/Eigen3/Eigen/src/Core/ForceAlignedAccess.h
+	../../extern/Eigen3/Eigen/src/Core/PlainObjectBase.h
+	../../extern/Eigen3/Eigen/src/Core/IO.h
+	../../extern/Eigen3/Eigen/src/Core/DiagonalMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/CwiseUnaryOp.h
+	../../extern/Eigen3/Eigen/src/Core/Reverse.h
+	../../extern/Eigen3/Eigen/src/Core/Fuzzy.h
+	../../extern/Eigen3/Eigen/src/Core/DenseStorage.h
+	../../extern/Eigen3/Eigen/src/Core/StableNorm.h
+	../../extern/Eigen3/Eigen/src/Core/NumTraits.h
+	../../extern/Eigen3/Eigen/src/Core/Map.h
+	../../extern/Eigen3/Eigen/src/Core/Functors.h
+	../../extern/Eigen3/Eigen/src/Core/PermutationMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/ArrayBase.h
+	../../extern/Eigen3/Eigen/src/Core/CwiseNullaryOp.h
+	../../extern/Eigen3/Eigen/src/Core/SolveTriangular.h
+	../../extern/Eigen3/Eigen/src/Core/NestByValue.h
+	../../extern/Eigen3/Eigen/src/Core/DiagonalProduct.h
+	../../extern/Eigen3/Eigen/src/Core/CommaInitializer.h
+	../../extern/Eigen3/Eigen/src/Core/MathFunctions.h
+	../../extern/Eigen3/Eigen/src/Core/Diagonal.h
+	../../extern/Eigen3/Eigen/src/Core/Replicate.h
+	../../extern/Eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/products/SelfadjointProduct.h
+	../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
+	../../extern/Eigen3/Eigen/src/Core/products/CoeffBasedProduct.h
+	../../extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
+	../../extern/Eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
+	../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+	../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/products/Parallelizer.h
+	../../extern/Eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/products/TriangularSolverVector.h
+	../../extern/Eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
+	../../extern/Eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+	../../extern/Eigen3/Eigen/src/Core/TriangularMatrix.h
+	../../extern/Eigen3/Eigen/src/Core/VectorwiseOp.h
+	../../extern/Eigen3/Eigen/src/Core/Assign.h
+	../../extern/Eigen3/Eigen/src/Core/Flagged.h
+	../../extern/Eigen3/Eigen/src/Cholesky/LDLT.h
+	../../extern/Eigen3/Eigen/src/Cholesky/LLT.h
 )
 
+if(WIN32)
+	add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY)
+endif()
+
 blender_add_lib(bf_intern_itasc "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/intern/itasc/Cache.cpp b/intern/itasc/Cache.cpp
index ba674addb9a..6a698005d63 100644
--- a/intern/itasc/Cache.cpp
+++ b/intern/itasc/Cache.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/Cache.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * Cache.cpp
  *
  *  Created on: Feb 24, 2009
diff --git a/intern/itasc/Cache.hpp b/intern/itasc/Cache.hpp
index 64707782e6f..a533d75b53a 100644
--- a/intern/itasc/Cache.hpp
+++ b/intern/itasc/Cache.hpp
@@ -1,4 +1,4 @@
-/* $Id: Cache.hpp 21152 2009-06-25 11:57:19Z ben2610 $
+/*
  * Cache.hpp
  *
  *  Created on: Feb 24, 2009
diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp
index b07dc5bb983..e21cd36e4c8 100644
--- a/intern/itasc/ConstraintSet.cpp
+++ b/intern/itasc/ConstraintSet.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/ConstraintSet.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * ConstraintSet.cpp
  *
  *  Created on: Jan 5, 2009
@@ -80,7 +80,7 @@ void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp
 
 double ConstraintSet::getMaxTimestep(double& timestep)
 {
-	e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff();
+	e_scalar maxChidot = m_chidot.array().abs().maxCoeff();
 	if (timestep*maxChidot > m_maxDeltaChi) {
 		timestep = m_maxDeltaChi/maxChidot;
 	}
@@ -162,9 +162,9 @@ bool ConstraintSet::closeLoop(){
         }else
             m_B.row(i) = m_U.col(i)/m_S(i);
 
-    m_Jf_inv=(m_V*m_B).lazy();
+    m_Jf_inv.noalias()=m_V*m_B;
 
-    m_chi+=(m_Jf_inv*m_tdelta).lazy();
+    m_chi.noalias()+=m_Jf_inv*m_tdelta;
     updateJacobian();
 	// m_externalPose-m_internalPose in end effector frame
 	// this is just to compare the pose, a different formula would work too
diff --git a/intern/itasc/ConstraintSet.hpp b/intern/itasc/ConstraintSet.hpp
index 12bb085c911..bf29190a050 100644
--- a/intern/itasc/ConstraintSet.hpp
+++ b/intern/itasc/ConstraintSet.hpp
@@ -1,4 +1,4 @@
-/* $Id: ConstraintSet.hpp 20307 2009-05-20 20:39:18Z ben2610 $
+/*
  * ConstraintSet.hpp
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/ControlledObject.cpp b/intern/itasc/ControlledObject.cpp
index 693e35c63af..4055aad7768 100644
--- a/intern/itasc/ControlledObject.cpp
+++ b/intern/itasc/ControlledObject.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/ControlledObject.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * ControlledObject.cpp
  *
  *  Created on: Jan 5, 2009
@@ -54,7 +54,7 @@ const e_matrix& ControlledObject::getJq(unsigned int ee) const
 
 double ControlledObject::getMaxTimestep(double& timestep)
 {
-	e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff();
+	e_scalar maxQdot = m_qdot.array().abs().maxCoeff();
 	if (timestep*maxQdot > m_maxDeltaQ) {
 		timestep = m_maxDeltaQ/maxQdot;
 	}
diff --git a/intern/itasc/ControlledObject.hpp b/intern/itasc/ControlledObject.hpp
index 2370f6594ed..4530bf9823b 100644
--- a/intern/itasc/ControlledObject.hpp
+++ b/intern/itasc/ControlledObject.hpp
@@ -1,4 +1,4 @@
-/* $Id: ControlledObject.hpp 20853 2009-06-13 12:29:46Z ben2610 $
+/*
  * ControlledObject.hpp
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/CopyPose.cpp b/intern/itasc/CopyPose.cpp
index 14c3e95a2f1..a9d4c2f0a2a 100644
--- a/intern/itasc/CopyPose.cpp
+++ b/intern/itasc/CopyPose.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/CopyPose.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * CopyPose.cpp
  *
  *  Created on: Mar 17, 2009
@@ -473,7 +473,7 @@ double CopyPose::getMaxTimestep(double& timestep)
 	// CopyPose should not have any limit on linear velocity: 
 	// in case the target is out of reach, this can be very high.
 	// We will simply limit on rotation
-	e_scalar maxChidot = m_chidot.block(3,0,3,1).cwise().abs().maxCoeff();
+	e_scalar maxChidot = m_chidot.block(3,0,3,1).array().abs().maxCoeff();
 	if (timestep*maxChidot > m_maxDeltaChi) {
 		timestep = m_maxDeltaChi/maxChidot;
 	}
diff --git a/intern/itasc/CopyPose.hpp b/intern/itasc/CopyPose.hpp
index 3a3f60a9f37..fd8a5451310 100644
--- a/intern/itasc/CopyPose.hpp
+++ b/intern/itasc/CopyPose.hpp
@@ -1,4 +1,4 @@
-/* $Id: CopyPose.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+/*
  * CopyPose.h
  *
  *  Created on: Mar 17, 2009
diff --git a/intern/itasc/Distance.cpp b/intern/itasc/Distance.cpp
index d621295d015..7cf04367a4e 100644
--- a/intern/itasc/Distance.cpp
+++ b/intern/itasc/Distance.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/Distance.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * Distance.cpp
  *
  *  Created on: Jan 30, 2009
diff --git a/intern/itasc/Distance.hpp b/intern/itasc/Distance.hpp
index 1366693743e..5c56dd871ef 100644
--- a/intern/itasc/Distance.hpp
+++ b/intern/itasc/Distance.hpp
@@ -1,4 +1,4 @@
-/* $Id: Distance.hpp 19905 2009-04-23 13:29:54Z ben2610 $
+/*
  * Distance.hpp
  *
  *  Created on: Jan 30, 2009
diff --git a/intern/itasc/FixedObject.cpp b/intern/itasc/FixedObject.cpp
index f6ef718b768..9dc4d69878a 100644
--- a/intern/itasc/FixedObject.cpp
+++ b/intern/itasc/FixedObject.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/FixedObject.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * FixedObject.cpp
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp
index 01ab3355259..b4279d9adcb 100644
--- a/intern/itasc/FixedObject.hpp
+++ b/intern/itasc/FixedObject.hpp
@@ -1,4 +1,4 @@
-/* $Id: FixedObject.hpp 19905 2009-04-23 13:29:54Z ben2610 $
+/*
  * FixedObject.h
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp
index 44a490b3248..3b0ee7842ca 100644
--- a/intern/itasc/MovingFrame.cpp
+++ b/intern/itasc/MovingFrame.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/MovingFrame.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * MovingFrame.cpp
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp
index edaa3136a13..21cb344980a 100644
--- a/intern/itasc/MovingFrame.hpp
+++ b/intern/itasc/MovingFrame.hpp
@@ -1,4 +1,4 @@
-/* $Id: MovingFrame.hpp 19907 2009-04-23 13:41:59Z ben2610 $
+/*
  * MovingFrame.h
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/Object.hpp b/intern/itasc/Object.hpp
index 5c312cab768..5aa4346fc4b 100644
--- a/intern/itasc/Object.hpp
+++ b/intern/itasc/Object.hpp
@@ -1,4 +1,4 @@
-/* $Id: Object.hpp 19907 2009-04-23 13:41:59Z ben2610 $
+/*
  * Object.hpp
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/SConscript b/intern/itasc/SConscript
index 5fa4246d711..69dddf40228 100644
--- a/intern/itasc/SConscript
+++ b/intern/itasc/SConscript
@@ -5,7 +5,12 @@ sources = env.Glob('*.cpp')
 sources += env.Glob('kdl/*.cpp')
 sources += env.Glob('kdl/utilities/*.cpp')
 
-incs = '. ../../extern/Eigen2'
+incs = '. ../../extern/Eigen3'
 
-env.BlenderLib ('bf_intern_itasc', sources, Split(incs), [], libtype=['intern','player'], priority=[20,100] )
+defs = []
+
+if env['PLATFORM'] == 'win32':
+    defs.append('EIGEN_DONT_ALIGN_STATICALLY')
+
+env.BlenderLib ('bf_intern_itasc', sources, Split(incs), defs, libtype=['intern','player'], priority=[20,100] )
 
diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp
index 0c5e00ec56f..16f8551bfc7 100644
--- a/intern/itasc/Scene.cpp
+++ b/intern/itasc/Scene.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/Scene.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * Scene.cpp
  *
  *  Created on: Jan 5, 2009
@@ -356,7 +356,7 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 					m_Uf.col(i).setConstant(0.0);
 				else
 					m_Uf.col(i)*=(1/m_Sf(i));
-			project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy();
+			project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose();
 
 			//Get the robotjacobian associated with this constraintset
 			//Each jacobian is expressed in robot base frame => convert to world reference
@@ -410,11 +410,11 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 		}
 
 	    //Calculate A
-		m_Atemp=(m_Cf*m_Jf_inv).lazy();
-		m_A = m_Cq-(m_Atemp*m_Jq).lazy();
+		m_Atemp.noalias()=m_Cf*m_Jf_inv;
+		m_A.noalias() = m_Cq-(m_Atemp*m_Jq);
 		if (m_nuTotal > 0) {
-			m_B=(m_Atemp*m_Ju).lazy();
-			m_ydot += (m_B*m_xdot).lazy();
+			m_B.noalias()=m_Atemp*m_Ju;
+			m_ydot.noalias() += m_B*m_xdot;
 		}
 
 		//Call the solver with A, Wq, Wy, ydot to solver qdot:
@@ -435,13 +435,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 			//Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
 			e_vector6 external_vel = e_zero_vector(6);
 			if (ob1->jointrange.count > 0)
-				external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy();
+				external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange));
 			if (ob2->jointrange.count > 0)
-				external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy();
+				external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange));
 			if (ob1->coordinaterange.count > 0)
-				external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy();
+				external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange));
 			if (ob2->coordinaterange.count > 0)
-				external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy();
+				external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange));
 			//the twist caused by the constraint must be opposite because of the closed loop
 			//estimate the velocity of the joints using the inverse jacobian
 			e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);
diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp
index a2d63361d95..5ed031b543e 100644
--- a/intern/itasc/Scene.hpp
+++ b/intern/itasc/Scene.hpp
@@ -1,4 +1,4 @@
-/* $Id: Scene.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+/*
  * Scene.hpp
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/Solver.hpp b/intern/itasc/Solver.hpp
index e3aa1e1abc8..809c03d9bce 100644
--- a/intern/itasc/Solver.hpp
+++ b/intern/itasc/Solver.hpp
@@ -1,4 +1,4 @@
-/* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+/*
  * Solver.hpp
  *
  *  Created on: Jan 8, 2009
diff --git a/intern/itasc/UncontrolledObject.cpp b/intern/itasc/UncontrolledObject.cpp
index 54ac56bbf1e..a5f2362aa94 100644
--- a/intern/itasc/UncontrolledObject.cpp
+++ b/intern/itasc/UncontrolledObject.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/UncontrolledObject.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * UncontrolledObject.cpp
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp
index 3b693a0b2ed..81445538fa6 100644
--- a/intern/itasc/UncontrolledObject.hpp
+++ b/intern/itasc/UncontrolledObject.hpp
@@ -1,4 +1,4 @@
-/* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $
+/*
  * UncontrolledObject.h
  *
  *  Created on: Jan 5, 2009
diff --git a/intern/itasc/WDLSSolver.cpp b/intern/itasc/WDLSSolver.cpp
index ea95db93359..d03c38396c7 100644
--- a/intern/itasc/WDLSSolver.cpp
+++ b/intern/itasc/WDLSSolver.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/WDLSSolver.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * WDLSSolver.hpp.cpp
  *
  *  Created on: Jan 8, 2009
@@ -65,10 +65,10 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
     if(ret<0)
         return false;
 
-    m_WqV = (Wq*m_V).lazy();
+    m_WqV.noalias() = Wq*m_V;
 
     //Wy*ydot
-	m_Wy_ydot = Wy.cwise() * ydot;
+	m_Wy_ydot = Wy.array() * ydot.array();
     //S^-1*U'*Wy*ydot
 	e_scalar maxDeltaS = e_scalar(0.0);
 	e_scalar prevS = e_scalar(0.0);
@@ -85,7 +85,7 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
 		}
 		lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0);
 		alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda);
-		vmax = m_WqV.col(i).cwise().abs().maxCoeff();
+		vmax = m_WqV.col(i).array().abs().maxCoeff();
 		norm = fabs(alpha*vmax);
 		if (norm > m_qmax) {
 			qdot += m_WqV.col(i)*(alpha*m_qmax/norm);
diff --git a/intern/itasc/WDLSSolver.hpp b/intern/itasc/WDLSSolver.hpp
index b56ad1ab2b8..4e72490cf1b 100644
--- a/intern/itasc/WDLSSolver.hpp
+++ b/intern/itasc/WDLSSolver.hpp
@@ -1,4 +1,4 @@
-/* $Id: WDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+/*
  * WDLSSolver.hpp
  *
  *  Created on: Jan 8, 2009
diff --git a/intern/itasc/WSDLSSolver.cpp b/intern/itasc/WSDLSSolver.cpp
index bf9407a859a..6fdd8e6e06c 100644
--- a/intern/itasc/WSDLSSolver.cpp
+++ b/intern/itasc/WSDLSSolver.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/WSDLSSolver.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * WDLSSolver.hpp.cpp
  *
  *  Created on: Jan 8, 2009
@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 	e_scalar N, M;
 
 	// Create the Weighted jacobian
-    m_AWq = (A*Wq).lazy();
+    m_AWq.noalias() = A*Wq;
 	for (i=0; i<m_nc; i++)
 		m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
 
@@ -75,8 +75,8 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
     if(ret<0)
         return false;
 
-	m_Wy_ydot = Wy.cwise() * ydot;
-    m_WqV = (Wq*m_V).lazy();
+	m_Wy_ydot = Wy.array() * ydot.array();
+    m_WqV.noalias() = Wq*m_V;
 	qdot.setZero();
 	e_scalar maxDeltaS = e_scalar(0.0);
 	e_scalar prevS = e_scalar(0.0);
@@ -121,7 +121,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 		M *= Sinv;
 		alpha = m_U.col(i).dot(m_Wy_ydot);
 		_qmax = (N < M) ? m_qmax*N/M : m_qmax;
-		vmax = m_WqV.col(i).cwise().abs().maxCoeff();
+		vmax = m_WqV.col(i).array().abs().maxCoeff();
 		norm = fabs(Sinv*alpha*vmax);
 		if (norm > _qmax) {
 			damp = Sinv*alpha*_qmax/norm;
diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp
index 0b17f26ef47..e6516031428 100644
--- a/intern/itasc/WSDLSSolver.hpp
+++ b/intern/itasc/WSDLSSolver.hpp
@@ -1,4 +1,4 @@
-/* $Id: WSDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $
+/*
  * WSDLSSolver.hpp
  *
  *  Created on: Mar 26, 2009
diff --git a/intern/itasc/WorldObject.cpp b/intern/itasc/WorldObject.cpp
index 1bdf2738451..cabe13fe379 100644
--- a/intern/itasc/WorldObject.cpp
+++ b/intern/itasc/WorldObject.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/WorldObject.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * WorldObject.cpp
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp
index b309545a843..99756dcd684 100644
--- a/intern/itasc/WorldObject.hpp
+++ b/intern/itasc/WorldObject.hpp
@@ -1,4 +1,4 @@
-/* $Id: WorldObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $
+/*
  * WorldObject.h
  *
  *  Created on: Feb 10, 2009
diff --git a/intern/itasc/eigen_types.cpp b/intern/itasc/eigen_types.cpp
index 1173be881c4..a2ec68ca8e4 100644
--- a/intern/itasc/eigen_types.cpp
+++ b/intern/itasc/eigen_types.cpp
@@ -1,7 +1,7 @@
 /** \file itasc/eigen_types.cpp
  *  \ingroup itasc
  */
-/* $Id$
+/*
  * eigen_types.cpp
  *
  *  Created on: March 19, 2009
diff --git a/intern/itasc/eigen_types.hpp b/intern/itasc/eigen_types.hpp
index fe46f8b6bb3..601b69274d9 100644
--- a/intern/itasc/eigen_types.hpp
+++ b/intern/itasc/eigen_types.hpp
@@ -1,4 +1,4 @@
-/* $Id: eigen_types.hpp 19905 2009-04-23 13:29:54Z ben2610 $
+/*
  * eigen_types.hpp
  *
  *  Created on: March 6, 2009
diff --git a/intern/itasc/kdl/frameacc.cpp b/intern/itasc/kdl/frameacc.cpp
index c9f13b31f91..28d073e399e 100644
--- a/intern/itasc/kdl/frameacc.cpp
+++ b/intern/itasc/kdl/frameacc.cpp
@@ -12,7 +12,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/frameacc.hpp b/intern/itasc/kdl/frameacc.hpp
index 43e38698ef3..40dd5bfa712 100644
--- a/intern/itasc/kdl/frameacc.hpp
+++ b/intern/itasc/kdl/frameacc.hpp
@@ -22,7 +22,6 @@
  *      - $log$
  *
  *  \par Release
- *      $Id: frameacc.hpp 19905 2009-04-23 13:29:54Z ben2610 $
  *      $Name:  $
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/frameacc.inl b/intern/itasc/kdl/frameacc.inl
index a8ea35ad436..667664f2079 100644
--- a/intern/itasc/kdl/frameacc.inl
+++ b/intern/itasc/kdl/frameacc.inl
@@ -12,7 +12,6 @@
  *      - $log$
  *
  *  \par Release
- *      $Id: frameacc.inl 19905 2009-04-23 13:29:54Z ben2610 $
  *      $Name:  $ 
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/framevel.cpp b/intern/itasc/kdl/framevel.cpp
index 4540d5a6621..9ea1147aa74 100644
--- a/intern/itasc/kdl/framevel.cpp
+++ b/intern/itasc/kdl/framevel.cpp
@@ -12,7 +12,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/framevel.hpp b/intern/itasc/kdl/framevel.hpp
index b70182bccde..e95c5ef7907 100644
--- a/intern/itasc/kdl/framevel.hpp
+++ b/intern/itasc/kdl/framevel.hpp
@@ -16,7 +16,6 @@
  *      - $log$
  *
  *  \par Release
- *      $Id: framevel.hpp 19905 2009-04-23 13:29:54Z ben2610 $
  *      $Name:  $
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/framevel.inl b/intern/itasc/kdl/framevel.inl
index 994b3d2028e..d0872b8869b 100644
--- a/intern/itasc/kdl/framevel.inl
+++ b/intern/itasc/kdl/framevel.inl
@@ -12,7 +12,6 @@
  *      - $log$
  *
  *  \par Release
- *      $Id: framevel.inl 19905 2009-04-23 13:29:54Z ben2610 $
  *      $Name:  $ 
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/inertia.cpp b/intern/itasc/kdl/inertia.cpp
index 362b8310a52..783bb04db70 100644
--- a/intern/itasc/kdl/inertia.cpp
+++ b/intern/itasc/kdl/inertia.cpp
@@ -24,7 +24,7 @@
 
 #include "inertia.hpp"
 
-#include <Eigen/Array>
+#include <Eigen/Core>
 
 namespace KDL {
 using namespace Eigen;
diff --git a/intern/itasc/kdl/inertia.hpp b/intern/itasc/kdl/inertia.hpp
index 9f33859671c..f37d9972883 100644
--- a/intern/itasc/kdl/inertia.hpp
+++ b/intern/itasc/kdl/inertia.hpp
@@ -22,7 +22,7 @@
 #ifndef KDLINERTIA_HPP
 #define KDLINERTIA_HPP
 
-#include <Eigen/Array>
+#include <Eigen/Core>
 #include "frames.hpp"
 
 namespace KDL {
diff --git a/intern/itasc/kdl/utilities/error.h b/intern/itasc/kdl/utilities/error.h
index b5d209f6f62..53cb27b43d6 100644
--- a/intern/itasc/kdl/utilities/error.h
+++ b/intern/itasc/kdl/utilities/error.h
@@ -39,7 +39,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $ 
  ****************************************************************************/
 #ifndef ERROR_H_84822 // to make it unique, a random number
diff --git a/intern/itasc/kdl/utilities/error_stack.cpp b/intern/itasc/kdl/utilities/error_stack.cpp
index 8abddfa4474..c9ef0296474 100644
--- a/intern/itasc/kdl/utilities/error_stack.cpp
+++ b/intern/itasc/kdl/utilities/error_stack.cpp
@@ -12,7 +12,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $ 
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/utilities/rall1d.h b/intern/itasc/kdl/utilities/rall1d.h
index 98bd4385d1e..4ff2ca06ea6 100644
--- a/intern/itasc/kdl/utilities/rall1d.h
+++ b/intern/itasc/kdl/utilities/rall1d.h
@@ -19,7 +19,6 @@
  *      - $log$ 
  *
  *  \par Release
- *      $Id$
  *      $Name:  $ 
  ****************************************************************************/
  
diff --git a/intern/itasc/kdl/utilities/rall2d.h b/intern/itasc/kdl/utilities/rall2d.h
index cbd9e70b04f..0847171cf37 100644
--- a/intern/itasc/kdl/utilities/rall2d.h
+++ b/intern/itasc/kdl/utilities/rall2d.h
@@ -19,7 +19,6 @@
  *      - $log$ 
  *
  *  \par Release
- *      $Id$
  *      $Name:  $ 
  ****************************************************************************/
 
diff --git a/intern/itasc/kdl/utilities/svd_eigen_HH.hpp b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp
index 2bbb8df521f..f4b46963813 100644
--- a/intern/itasc/kdl/utilities/svd_eigen_HH.hpp
+++ b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp
@@ -25,7 +25,7 @@
 #define SVD_EIGEN_HH_HPP
 
 
-#include <Eigen/Array>
+#include <Eigen/Core>
 #include <algorithm>
 
 namespace KDL
diff --git a/intern/itasc/kdl/utilities/utility.h b/intern/itasc/kdl/utilities/utility.h
index 7151792536e..fbf9982665a 100644
--- a/intern/itasc/kdl/utilities/utility.h
+++ b/intern/itasc/kdl/utilities/utility.h
@@ -9,7 +9,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $ 
  *  \file
  *    Included by most lrl-files to provide some general
diff --git a/intern/itasc/kdl/utilities/utility_io.cpp b/intern/itasc/kdl/utilities/utility_io.cpp
index c9a016176ff..0926f424f71 100644
--- a/intern/itasc/kdl/utilities/utility_io.cpp
+++ b/intern/itasc/kdl/utilities/utility_io.cpp
@@ -12,7 +12,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $ 
  * \todo
  *   make IO routines more robust against the differences between DOS/UNIX end-of-line style.
diff --git a/intern/itasc/kdl/utilities/utility_io.h b/intern/itasc/kdl/utilities/utility_io.h
index 2a71ce870a3..b597472cee7 100644
--- a/intern/itasc/kdl/utilities/utility_io.h
+++ b/intern/itasc/kdl/utilities/utility_io.h
@@ -9,7 +9,6 @@
  *		- $log$
  *
  *	\par Release
- *		$Id$
  *		$Name:  $ 
  *
  *  \file   utility_io.h
diff --git a/intern/memutil/CMakeLists.txt b/intern/memutil/CMakeLists.txt
index 54e43cb7236..3f9f8d6fe25 100644
--- a/intern/memutil/CMakeLists.txt
+++ b/intern/memutil/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_Allocator.h b/intern/memutil/MEM_Allocator.h
index 14d62a2434d..99d0b5177f3 100644
--- a/intern/memutil/MEM_Allocator.h
+++ b/intern/memutil/MEM_Allocator.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_CacheLimiter.h b/intern/memutil/MEM_CacheLimiter.h
index 0b657104a05..5194c97fd78 100644
--- a/intern/memutil/MEM_CacheLimiter.h
+++ b/intern/memutil/MEM_CacheLimiter.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -126,6 +125,10 @@ class MEM_CacheLimiter {
 public:
 	typedef typename std::list<MEM_CacheLimiterHandle<T> *,
 	  MEM_Allocator<MEM_CacheLimiterHandle<T> *> >::iterator iterator;
+	typedef intptr_t (*MEM_CacheLimiter_DataSize_Func) (void *data);
+	MEM_CacheLimiter(MEM_CacheLimiter_DataSize_Func getDataSize_)
+		: getDataSize(getDataSize_) {
+	}
 	~MEM_CacheLimiter() {
 		for (iterator it = queue.begin(); it != queue.end(); it++) {
 			delete *it;
@@ -144,17 +147,36 @@ public:
 	}
 	void enforce_limits() {
 		intptr_t max = MEM_CacheLimiter_get_maximum();
-		intptr_t mem_in_use= MEM_get_memory_in_use();
-		intptr_t mmap_in_use= MEM_get_mapped_memory_in_use();
+		intptr_t mem_in_use, cur_size;
 
 		if (max == 0) {
 			return;
 		}
+
+		if(getDataSize) {
+			mem_in_use = total_size();
+		} else {
+			mem_in_use = MEM_get_memory_in_use();
+		}
+
 		for (iterator it = queue.begin(); 
-		     it != queue.end() && mem_in_use + mmap_in_use > max;) {
+		     it != queue.end() && mem_in_use > max;) {
 			iterator jt = it;
 			++it;
+
+			if(getDataSize) {
+				cur_size= getDataSize((*jt)->get()->get_data());
+			} else {
+				cur_size= mem_in_use;
+			}
+
 			(*jt)->destroy_if_possible();
+
+			if(getDataSize) {
+				mem_in_use-= cur_size;
+			} else {
+				mem_in_use-= cur_size - MEM_get_memory_in_use();
+			}
 		}
 	}
 	void touch(MEM_CacheLimiterHandle<T> * handle) {
@@ -165,8 +187,17 @@ public:
 		handle->me = it;
 	}
 private:
+	intptr_t total_size() {
+		intptr_t size = 0;
+		for (iterator it = queue.begin(); it != queue.end(); it++) {
+			size+= getDataSize((*it)->get()->get_data());
+		}
+		return size;
+	}
+
 	std::list<MEM_CacheLimiterHandle<T>*,
 	  MEM_Allocator<MEM_CacheLimiterHandle<T> *> > queue;
+	MEM_CacheLimiter_DataSize_Func getDataSize;
 };
 
 #endif // MEM_CACHELIMITER_H
diff --git a/intern/memutil/MEM_CacheLimiterC-Api.h b/intern/memutil/MEM_CacheLimiterC-Api.h
index 4f267f7ddf0..768842caee6 100644
--- a/intern/memutil/MEM_CacheLimiterC-Api.h
+++ b/intern/memutil/MEM_CacheLimiterC-Api.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -42,6 +41,9 @@ typedef struct MEM_CacheLimiterHandle_s MEM_CacheLimiterHandleC;
 /* function used to remove data from memory */
 typedef void(*MEM_CacheLimiter_Destruct_Func)(void*);
 
+/* function used to measure stored data element size */
+typedef intptr_t(*MEM_CacheLimiter_DataSize_Func) (void*);
+
 #ifndef MEM_CACHELIMITER_H
 extern void MEM_CacheLimiter_set_maximum(int m);
 extern int MEM_CacheLimiter_get_maximum(void);
@@ -55,7 +57,8 @@ extern int MEM_CacheLimiter_get_maximum(void);
  */
 
 extern MEM_CacheLimiterC * new_MEM_CacheLimiter(
-	MEM_CacheLimiter_Destruct_Func data_destructor);
+	MEM_CacheLimiter_Destruct_Func data_destructor,
+	MEM_CacheLimiter_DataSize_Func data_size);
 
 /** 
  * Delete MEM_CacheLimiter
diff --git a/intern/memutil/MEM_NonCopyable.h b/intern/memutil/MEM_NonCopyable.h
index 9b677f0e576..7ddd35d6fc4 100644
--- a/intern/memutil/MEM_NonCopyable.h
+++ b/intern/memutil/MEM_NonCopyable.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_RefCountPtr.h b/intern/memutil/MEM_RefCountPtr.h
index 2a1c92ad61c..43dbc807ae0 100644
--- a/intern/memutil/MEM_RefCountPtr.h
+++ b/intern/memutil/MEM_RefCountPtr.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_RefCounted.h b/intern/memutil/MEM_RefCounted.h
index 4f2edd0be09..0c3a54122f1 100644
--- a/intern/memutil/MEM_RefCounted.h
+++ b/intern/memutil/MEM_RefCounted.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_RefCountedC-Api.h b/intern/memutil/MEM_RefCountedC-Api.h
index 2f4297582af..4b2679cccc2 100644
--- a/intern/memutil/MEM_RefCountedC-Api.h
+++ b/intern/memutil/MEM_RefCountedC-Api.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/MEM_SmartPtr.h b/intern/memutil/MEM_SmartPtr.h
index ee3c4f22536..a2ab273d092 100644
--- a/intern/memutil/MEM_SmartPtr.h
+++ b/intern/memutil/MEM_SmartPtr.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/memutil/intern/MEM_CacheLimiterC-Api.cpp b/intern/memutil/intern/MEM_CacheLimiterC-Api.cpp
index 1bc011a5be0..cc8d2497f37 100644
--- a/intern/memutil/intern/MEM_CacheLimiterC-Api.cpp
+++ b/intern/memutil/intern/MEM_CacheLimiterC-Api.cpp
@@ -54,8 +54,8 @@ typedef std::list<MEM_CacheLimiterHandleCClass*,
 
 class MEM_CacheLimiterCClass {
 public:
-	MEM_CacheLimiterCClass(MEM_CacheLimiter_Destruct_Func data_destructor_)
-		: data_destructor(data_destructor_) { 
+	MEM_CacheLimiterCClass(MEM_CacheLimiter_Destruct_Func data_destructor_, MEM_CacheLimiter_DataSize_Func data_size)
+		: data_destructor(data_destructor_), cache(data_size) {
 	}
         ~MEM_CacheLimiterCClass();
 	
@@ -142,10 +142,12 @@ static inline handle_t* cast(MEM_CacheLimiterHandleC * l)
 }
 
 MEM_CacheLimiterC * new_MEM_CacheLimiter(
-	MEM_CacheLimiter_Destruct_Func data_destructor)
+	MEM_CacheLimiter_Destruct_Func data_destructor,
+	MEM_CacheLimiter_DataSize_Func data_size)
 {
 	return (MEM_CacheLimiterC*) new MEM_CacheLimiterCClass(
-		data_destructor);
+		data_destructor,
+		data_size);
 }
 
 void delete_MEM_CacheLimiter(MEM_CacheLimiterC * This)
diff --git a/intern/memutil/intern/MEM_RefCountedC-Api.cpp b/intern/memutil/intern/MEM_RefCountedC-Api.cpp
index d920592c94d..734596465a8 100644
--- a/intern/memutil/intern/MEM_RefCountedC-Api.cpp
+++ b/intern/memutil/intern/MEM_RefCountedC-Api.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/mikktspace/CMakeLists.txt b/intern/mikktspace/CMakeLists.txt
index b6552b18e37..e48b0240f98 100644
--- a/intern/mikktspace/CMakeLists.txt
+++ b/intern/mikktspace/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/moto/CMakeLists.txt b/intern/moto/CMakeLists.txt
index 1e73f960907..8075c66b847 100644
--- a/intern/moto/CMakeLists.txt
+++ b/intern/moto/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -69,6 +68,16 @@ set(SRC
 	include/MT_assert.h
 	include/MT_random.h
 	include/NM_Scalar.h
+
+	include/MT_Matrix3x3.inl
+	include/MT_Matrix4x4.inl
+	include/MT_Plane3.inl
+	include/MT_Point2.inl
+	include/MT_Point3.inl
+	include/MT_Quaternion.inl
+	include/MT_Vector2.inl
+	include/MT_Vector3.inl
+	include/MT_Vector4.inl
 )
 
 blender_add_lib(bf_intern_moto "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/intern/moto/include/GEN_List.h b/intern/moto/include/GEN_List.h
index d518bf5a7e9..3aefe5e060c 100644
--- a/intern/moto/include/GEN_List.h
+++ b/intern/moto/include/GEN_List.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/GEN_Map.h b/intern/moto/include/GEN_Map.h
index 06a161c215e..526bfdc8caf 100644
--- a/intern/moto/include/GEN_Map.h
+++ b/intern/moto/include/GEN_Map.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_CmMatrix4x4.h b/intern/moto/include/MT_CmMatrix4x4.h
index 6c34334b273..2b710c66888 100644
--- a/intern/moto/include/MT_CmMatrix4x4.h
+++ b/intern/moto/include/MT_CmMatrix4x4.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Matrix3x3.h b/intern/moto/include/MT_Matrix3x3.h
index 8f22a802cca..6d709fae662 100644
--- a/intern/moto/include/MT_Matrix3x3.h
+++ b/intern/moto/include/MT_Matrix3x3.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Matrix4x4.h b/intern/moto/include/MT_Matrix4x4.h
index 1bff55f2c58..de2ea995401 100644
--- a/intern/moto/include/MT_Matrix4x4.h
+++ b/intern/moto/include/MT_Matrix4x4.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * A 4x4 matrix compatible with other stuff.
  */
diff --git a/intern/moto/include/MT_MinMax.h b/intern/moto/include/MT_MinMax.h
index 4207f56f0ed..42e689f45a4 100644
--- a/intern/moto/include/MT_MinMax.h
+++ b/intern/moto/include/MT_MinMax.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Optimize.h b/intern/moto/include/MT_Optimize.h
index 94c332cf94b..e16bab1ecf9 100644
--- a/intern/moto/include/MT_Optimize.h
+++ b/intern/moto/include/MT_Optimize.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Plane3.h b/intern/moto/include/MT_Plane3.h
index cd04174552d..f208b377a81 100644
--- a/intern/moto/include/MT_Plane3.h
+++ b/intern/moto/include/MT_Plane3.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Point2.h b/intern/moto/include/MT_Point2.h
index cfc69f1310b..587379b21f4 100644
--- a/intern/moto/include/MT_Point2.h
+++ b/intern/moto/include/MT_Point2.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Point3.h b/intern/moto/include/MT_Point3.h
index 8928bf6584e..f19b2e2f324 100644
--- a/intern/moto/include/MT_Point3.h
+++ b/intern/moto/include/MT_Point3.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Quaternion.h b/intern/moto/include/MT_Quaternion.h
index 532175c9441..407d291348b 100644
--- a/intern/moto/include/MT_Quaternion.h
+++ b/intern/moto/include/MT_Quaternion.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Scalar.h b/intern/moto/include/MT_Scalar.h
index baebaf07130..5c4a5c2a44a 100644
--- a/intern/moto/include/MT_Scalar.h
+++ b/intern/moto/include/MT_Scalar.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Stream.h b/intern/moto/include/MT_Stream.h
index 175433be3f6..42861e6c099 100644
--- a/intern/moto/include/MT_Stream.h
+++ b/intern/moto/include/MT_Stream.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Transform.h b/intern/moto/include/MT_Transform.h
index da49a088f4d..9c23482925c 100644
--- a/intern/moto/include/MT_Transform.h
+++ b/intern/moto/include/MT_Transform.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Tuple2.h b/intern/moto/include/MT_Tuple2.h
index 49bc7f644f6..465b31a6781 100644
--- a/intern/moto/include/MT_Tuple2.h
+++ b/intern/moto/include/MT_Tuple2.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Tuple3.h b/intern/moto/include/MT_Tuple3.h
index 1f53234f395..ddd8ed724ca 100644
--- a/intern/moto/include/MT_Tuple3.h
+++ b/intern/moto/include/MT_Tuple3.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Tuple4.h b/intern/moto/include/MT_Tuple4.h
index 00d83985385..aa3b60f1c9b 100644
--- a/intern/moto/include/MT_Tuple4.h
+++ b/intern/moto/include/MT_Tuple4.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Vector2.h b/intern/moto/include/MT_Vector2.h
index 082431b251a..8b8f2478ce3 100644
--- a/intern/moto/include/MT_Vector2.h
+++ b/intern/moto/include/MT_Vector2.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Vector3.h b/intern/moto/include/MT_Vector3.h
index e5c9b98c96f..83c53a19d66 100644
--- a/intern/moto/include/MT_Vector3.h
+++ b/intern/moto/include/MT_Vector3.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_Vector4.h b/intern/moto/include/MT_Vector4.h
index 8404631fac7..d157cefa946 100644
--- a/intern/moto/include/MT_Vector4.h
+++ b/intern/moto/include/MT_Vector4.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_assert.h b/intern/moto/include/MT_assert.h
index 50a3a21cdac..256397036de 100644
--- a/intern/moto/include/MT_assert.h
+++ b/intern/moto/include/MT_assert.h
@@ -1,5 +1,4 @@
 /*
-* $Id$
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/MT_random.h b/intern/moto/include/MT_random.h
index 78e4cd74051..735316278d6 100644
--- a/intern/moto/include/MT_random.h
+++ b/intern/moto/include/MT_random.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/include/NM_Scalar.h b/intern/moto/include/NM_Scalar.h
index 56fd8c7badb..0e33979c521 100644
--- a/intern/moto/include/NM_Scalar.h
+++ b/intern/moto/include/NM_Scalar.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Assert.cpp b/intern/moto/intern/MT_Assert.cpp
index a01cbc95fdf..9279b70afec 100644
--- a/intern/moto/intern/MT_Assert.cpp
+++ b/intern/moto/intern/MT_Assert.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_CmMatrix4x4.cpp b/intern/moto/intern/MT_CmMatrix4x4.cpp
index c4eb88034d6..7a04864e48d 100644
--- a/intern/moto/intern/MT_CmMatrix4x4.cpp
+++ b/intern/moto/intern/MT_CmMatrix4x4.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Matrix3x3.cpp b/intern/moto/intern/MT_Matrix3x3.cpp
index af37fe6b7e3..fd33b3e1d39 100644
--- a/intern/moto/intern/MT_Matrix3x3.cpp
+++ b/intern/moto/intern/MT_Matrix3x3.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Matrix4x4.cpp b/intern/moto/intern/MT_Matrix4x4.cpp
index 6db287cdea2..41d49538212 100644
--- a/intern/moto/intern/MT_Matrix4x4.cpp
+++ b/intern/moto/intern/MT_Matrix4x4.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Plane3.cpp b/intern/moto/intern/MT_Plane3.cpp
index 1cf8d177e3a..22f7cfdbded 100644
--- a/intern/moto/intern/MT_Plane3.cpp
+++ b/intern/moto/intern/MT_Plane3.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Point3.cpp b/intern/moto/intern/MT_Point3.cpp
index 147ebe2104d..48003a8e60b 100644
--- a/intern/moto/intern/MT_Point3.cpp
+++ b/intern/moto/intern/MT_Point3.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Quaternion.cpp b/intern/moto/intern/MT_Quaternion.cpp
index 1026442b1fc..a2b634fced5 100644
--- a/intern/moto/intern/MT_Quaternion.cpp
+++ b/intern/moto/intern/MT_Quaternion.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Transform.cpp b/intern/moto/intern/MT_Transform.cpp
index 0ad7b1db9ce..13dd31b7667 100644
--- a/intern/moto/intern/MT_Transform.cpp
+++ b/intern/moto/intern/MT_Transform.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Vector2.cpp b/intern/moto/intern/MT_Vector2.cpp
index d47257bdc97..3c0b0a08f1f 100644
--- a/intern/moto/intern/MT_Vector2.cpp
+++ b/intern/moto/intern/MT_Vector2.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Vector3.cpp b/intern/moto/intern/MT_Vector3.cpp
index 4321c8dde8e..a90551dd0a8 100644
--- a/intern/moto/intern/MT_Vector3.cpp
+++ b/intern/moto/intern/MT_Vector3.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_Vector4.cpp b/intern/moto/intern/MT_Vector4.cpp
index 8af3ff65cf9..b41ec03754d 100644
--- a/intern/moto/intern/MT_Vector4.cpp
+++ b/intern/moto/intern/MT_Vector4.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/moto/intern/MT_random.cpp b/intern/moto/intern/MT_random.cpp
index cabbb0eb9ae..ab191008d28 100644
--- a/intern/moto/intern/MT_random.cpp
+++ b/intern/moto/intern/MT_random.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/opennl/CMakeLists.txt b/intern/opennl/CMakeLists.txt
index 7d6a579819e..f146a96928e 100644
--- a/intern/opennl/CMakeLists.txt
+++ b/intern/opennl/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -41,6 +40,7 @@ add_definitions(
 set(INC
 	extern
 	superlu
+	../../extern/colamd/Include
 )
 
 set(INC_SYS
@@ -49,7 +49,6 @@ set(INC_SYS
 
 set(SRC
 	intern/opennl.c
-	superlu/colamd.c
 	superlu/get_perm_c.c
 	superlu/heap_relax_snode.c
 	superlu/lsame.c
@@ -84,7 +83,6 @@ set(SRC
 	extern/ONL_opennl.h
 	superlu/superlu_sys_types.h
 	superlu/Cnames.h
-	superlu/colamd.h
 	superlu/ssp_defs.h
 	superlu/supermatrix.h
 	superlu/util.h
diff --git a/intern/opennl/SConscript b/intern/opennl/SConscript
index ff66b4ad6e1..502df1891d5 100644
--- a/intern/opennl/SConscript
+++ b/intern/opennl/SConscript
@@ -3,7 +3,7 @@ Import ('env')
 
 sources = env.Glob('intern/*.c') + env.Glob('superlu/*.c')
 
-incs = 'extern superlu'
+incs = 'extern superlu ../../extern/colamd/Include'
 
 if (env['OURPLATFORM'] == 'win32-mingw'):
     env.BlenderLib ('bf_intern_opennl', sources, Split(incs), [], libtype=['core','intern'], priority=[1,80] )
diff --git a/intern/opennl/extern/ONL_opennl.h b/intern/opennl/extern/ONL_opennl.h
index 7f25a7c4237..721da202c13 100644
--- a/intern/opennl/extern/ONL_opennl.h
+++ b/intern/opennl/extern/ONL_opennl.h
@@ -2,8 +2,6 @@
  *  \ingroup opennlextern
  */
 /*
- *  $Id$
- *
  *  OpenNL: Numerical Library
  *  Copyright (C) 2004 Bruno Levy
  *
diff --git a/intern/opennl/intern/opennl.c b/intern/opennl/intern/opennl.c
index a9172fb1d2c..c3fb7135fcb 100644
--- a/intern/opennl/intern/opennl.c
+++ b/intern/opennl/intern/opennl.c
@@ -2,7 +2,6 @@
  *  \ingroup opennlintern
  */
 /*
- *  $Id$
  *
  *  OpenNL: Numerical Library
  *  Copyright (C) 2004 Bruno Levy
diff --git a/intern/opennl/superlu/colamd.c b/intern/opennl/superlu/colamd.c
deleted file mode 100644
index 51f5ed4c659..00000000000
--- a/intern/opennl/superlu/colamd.c
+++ /dev/null
@@ -1,2586 +0,0 @@
-/** \file opennl/superlu/colamd.c
- *  \ingroup opennl
- */
-/* ========================================================================== */
-/* === colamd - a sparse matrix column ordering algorithm =================== */
-/* ========================================================================== */
-
-/*
-    colamd:  An approximate minimum degree column ordering algorithm.
-
-    Purpose:
-
-	Colamd computes a permutation Q such that the Cholesky factorization of
-	(AQ)'(AQ) has less fill-in and requires fewer floating point operations
-	than A'A.  This also provides a good ordering for sparse partial
-	pivoting methods, P(AQ) = LU, where Q is computed prior to numerical
-	factorization, and P is computed during numerical factorization via
-	conventional partial pivoting with row interchanges.  Colamd is the
-	column ordering method used in SuperLU, part of the ScaLAPACK library.
-	It is also available as user-contributed software for Matlab 5.2,
-	available from MathWorks, Inc. (http://www.mathworks.com).  This
-	routine can be used in place of COLMMD in Matlab.  By default, the \
-	and / operators in Matlab perform a column ordering (using COLMMD)
-	prior to LU factorization using sparse partial pivoting, in the
-	built-in Matlab LU(A) routine.
-
-    Authors:
-
-	The authors of the code itself are Stefan I. Larimore and Timothy A.
-	Davis (davis@cise.ufl.edu), University of Florida.  The algorithm was
-	developed in collaboration with John Gilbert, Xerox PARC, and Esmond
-	Ng, Oak Ridge National Laboratory.
-
-    Date:
-
-	August 3, 1998.  Version 1.0.
-
-    Acknowledgements:
-
-	This work was supported by the National Science Foundation, under
-	grants DMS-9504974 and DMS-9803599.
-
-    Notice:
-
-	Copyright (c) 1998 by the University of Florida.  All Rights Reserved.
-
-	THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
-	EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
-
-	Permission is hereby granted to use or copy this program for any
-	purpose, provided the above notices are retained on all copies.
-	User documentation of any code that uses this code must cite the
-	Authors, the Copyright, and "Used by permission."  If this code is
-	accessible from within Matlab, then typing "help colamd" or "colamd"
-	(with no arguments) must cite the Authors.  Permission to modify the
-	code and to distribute modified code is granted, provided the above
-	notices are retained, and a notice that the code was modified is
-	included with the above copyright notice.  You must also retain the
-	Availability information below, of the original version.
-
-	This software is provided free of charge.
-
-    Availability:
-
-	This file is located at
-
-		http://www.cise.ufl.edu/~davis/colamd/colamd.c
-
-	The colamd.h file is required, located in the same directory.
-	The colamdmex.c file provides a Matlab interface for colamd.
-	The symamdmex.c file provides a Matlab interface for symamd, which is
-	a symmetric ordering based on this code, colamd.c.  All codes are
-	purely ANSI C compliant (they use no Unix-specific routines, include
-	files, etc.).
-*/
-
-/* ========================================================================== */
-/* === Description of user-callable routines ================================ */
-/* ========================================================================== */
-
-/*
-    Each user-callable routine (declared as PUBLIC) is briefly described below.
-    Refer to the comments preceding each routine for more details.
-
-    ----------------------------------------------------------------------------
-    colamd_recommended:
-    ----------------------------------------------------------------------------
-
-	Usage:
-
-	    Alen = colamd_recommended (nnz, n_row, n_col) ;
-
-	Purpose:
-
-	    Returns recommended value of Alen for use by colamd.  Returns -1
-	    if any input argument is negative.
-
-	Arguments:
-
-	    int nnz ;		Number of nonzeros in the matrix A.  This must
-				be the same value as p [n_col] in the call to
-				colamd - otherwise you will get a wrong value
-				of the recommended memory to use.
-	    int n_row ;		Number of rows in the matrix A.
-	    int n_col ;		Number of columns in the matrix A.
-
-    ----------------------------------------------------------------------------
-    colamd_set_defaults:
-    ----------------------------------------------------------------------------
-
-	Usage:
-
-	    colamd_set_defaults (knobs) ;
-
-	Purpose:
-
-	    Sets the default parameters.
-
-	Arguments:
-
-	    double knobs [COLAMD_KNOBS] ;	Output only.
-
-		Rows with more than (knobs [COLAMD_DENSE_ROW] * n_col) entries
-		are removed prior to ordering.  Columns with more than
-		(knobs [COLAMD_DENSE_COL] * n_row) entries are removed
-		prior to ordering, and placed last in the output column
-		ordering.  Default values of these two knobs are both 0.5.
-		Currently, only knobs [0] and knobs [1] are used, but future
-		versions may use more knobs.  If so, they will be properly set
-		to their defaults by the future version of colamd_set_defaults,
-		so that the code that calls colamd will not need to change,
-		assuming that you either use colamd_set_defaults, or pass a
-		(double *) NULL pointer as the knobs array to colamd.
-
-    ----------------------------------------------------------------------------
-    colamd:
-    ----------------------------------------------------------------------------
-
-	Usage:
-
-	    colamd (n_row, n_col, Alen, A, p, knobs) ;
-
-	Purpose:
-
-	    Computes a column ordering (Q) of A such that P(AQ)=LU or
-	    (AQ)'AQ=LL' have less fill-in and require fewer floating point
-	    operations than factorizing the unpermuted matrix A or A'A,
-	    respectively.
-
-	Arguments:
-
-	    int n_row ;
-
-		Number of rows in the matrix A.
-		Restriction:  n_row >= 0.
-		Colamd returns FALSE if n_row is negative.
-
-	    int n_col ;
-
-		Number of columns in the matrix A.
-		Restriction:  n_col >= 0.
-		Colamd returns FALSE if n_col is negative.
-
-	    int Alen ;
-
-		Restriction (see note):
-		Alen >= 2*nnz + 6*(n_col+1) + 4*(n_row+1) + n_col + COLAMD_STATS
-		Colamd returns FALSE if these conditions are not met.
-
-		Note:  this restriction makes an modest assumption regarding
-		the size of the two typedef'd structures, below.  We do,
-		however, guarantee that
-		Alen >= colamd_recommended (nnz, n_row, n_col)
-		will be sufficient.
-
-	    int A [Alen] ;	Input argument, stats on output.
-
-		A is an integer array of size Alen.  Alen must be at least as
-		large as the bare minimum value given above, but this is very
-		low, and can result in excessive run time.  For best
-		performance, we recommend that Alen be greater than or equal to
-		colamd_recommended (nnz, n_row, n_col), which adds
-		nnz/5 to the bare minimum value given above.
-
-		On input, the row indices of the entries in column c of the
-		matrix are held in A [(p [c]) ... (p [c+1]-1)].  The row indices
-		in a given column c need not be in ascending order, and
-		duplicate row indices may be be present.  However, colamd will
-		work a little faster if both of these conditions are met
-		(Colamd puts the matrix into this format, if it finds that the
-		the conditions are not met).
-
-		The matrix is 0-based.  That is, rows are in the range 0 to
-		n_row-1, and columns are in the range 0 to n_col-1.  Colamd
-		returns FALSE if any row index is out of range.
-
-		The contents of A are modified during ordering, and are thus
-		undefined on output with the exception of a few statistics
-		about the ordering (A [0..COLAMD_STATS-1]):
-		A [0]:  number of dense or empty rows ignored.
-		A [1]:  number of dense or empty columns ignored (and ordered
-			last in the output permutation p)
-		A [2]:  number of garbage collections performed.
-		A [3]:  0, if all row indices in each column were in sorted
-			  order, and no duplicates were present.
-			1, otherwise (in which case colamd had to do more work)
-		Note that a row can become "empty" if it contains only
-		"dense" and/or "empty" columns, and similarly a column can
-		become "empty" if it only contains "dense" and/or "empty" rows.
-		Future versions may return more statistics in A, but the usage
-		of these 4 entries in A will remain unchanged.
-
-	    int p [n_col+1] ;	Both input and output argument.
-
-		p is an integer array of size n_col+1.  On input, it holds the
-		"pointers" for the column form of the matrix A.  Column c of
-		the matrix A is held in A [(p [c]) ... (p [c+1]-1)].  The first
-		entry, p [0], must be zero, and p [c] <= p [c+1] must hold
-		for all c in the range 0 to n_col-1.  The value p [n_col] is
-		thus the total number of entries in the pattern of the matrix A.
-		Colamd returns FALSE if these conditions are not met.
-
-		On output, if colamd returns TRUE, the array p holds the column
-		permutation (Q, for P(AQ)=LU or (AQ)'(AQ)=LL'), where p [0] is
-		the first column index in the new ordering, and p [n_col-1] is
-		the last.  That is, p [k] = j means that column j of A is the
-		kth pivot column, in AQ, where k is in the range 0 to n_col-1
-		(p [0] = j means that column j of A is the first column in AQ).
-
-		If colamd returns FALSE, then no permutation is returned, and
-		p is undefined on output.
-
-	    double knobs [COLAMD_KNOBS] ;	Input only.
-
-		See colamd_set_defaults for a description.  If the knobs array
-		is not present (that is, if a (double *) NULL pointer is passed
-		in its place), then the default values of the parameters are
-		used instead.
-
-*/
-
-
-/* ========================================================================== */
-/* === Include files ======================================================== */
-/* ========================================================================== */
-
-/* limits.h:  the largest positive integer (INT_MAX) */
-#include <limits.h>
-
-/* colamd.h:  knob array size, stats output size, and global prototypes */
-#include "colamd.h"
-
-/* ========================================================================== */
-/* === Scaffolding code definitions  ======================================== */
-/* ========================================================================== */
-
-/* Ensure that debugging is turned off: */
-#ifndef NDEBUG
-#define NDEBUG
-#endif
-
-/* assert.h:  the assert macro (no debugging if NDEBUG is defined) */
-#include <assert.h>
-
-/*
-   Our "scaffolding code" philosophy:  In our opinion, well-written library
-   code should keep its "debugging" code, and just normally have it turned off
-   by the compiler so as not to interfere with performance.  This serves
-   several purposes:
-
-   (1) assertions act as comments to the reader, telling you what the code
-	expects at that point.  All assertions will always be true (unless
-	there really is a bug, of course).
-
-   (2) leaving in the scaffolding code assists anyone who would like to modify
-	the code, or understand the algorithm (by reading the debugging output,
-	one can get a glimpse into what the code is doing).
-
-   (3) (gasp!) for actually finding bugs.  This code has been heavily tested
-	and "should" be fully functional and bug-free ... but you never know...
-
-    To enable debugging, comment out the "#define NDEBUG" above.  The code will
-    become outrageously slow when debugging is enabled.  To control the level of
-    debugging output, set an environment variable D to 0 (little), 1 (some),
-    2, 3, or 4 (lots).
-*/
-
-/* ========================================================================== */
-/* === Row and Column structures ============================================ */
-/* ========================================================================== */
-
-typedef struct ColInfo_struct
-{
-    int start ;		/* index for A of first row in this column, or DEAD */
-			/* if column is dead */
-    int length ;	/* number of rows in this column */
-    union
-    {
-	int thickness ;	/* number of original columns represented by this */
-			/* col, if the column is alive */
-	int parent ;	/* parent in parent tree super-column structure, if */
-			/* the column is dead */
-    } shared1 ;
-    union
-    {
-	int score ;	/* the score used to maintain heap, if col is alive */
-	int order ;	/* pivot ordering of this column, if col is dead */
-    } shared2 ;
-    union
-    {
-	int headhash ;	/* head of a hash bucket, if col is at the head of */
-			/* a degree list */
-	int hash ;	/* hash value, if col is not in a degree list */
-	int prev ;	/* previous column in degree list, if col is in a */
-			/* degree list (but not at the head of a degree list) */
-    } shared3 ;
-    union
-    {
-	int degree_next ;	/* next column, if col is in a degree list */
-	int hash_next ;		/* next column, if col is in a hash list */
-    } shared4 ;
-
-} ColInfo ;
-
-typedef struct RowInfo_struct
-{
-    int start ;		/* index for A of first col in this row */
-    int length ;	/* number of principal columns in this row */
-    union
-    {
-	int degree ;	/* number of principal & non-principal columns in row */
-	int p ;		/* used as a row pointer in init_rows_cols () */
-    } shared1 ;
-    union
-    {
-	int mark ;	/* for computing set differences and marking dead rows*/
-	int first_column ;/* first column in row (used in garbage collection) */
-    } shared2 ;
-
-} RowInfo ;
-
-/* ========================================================================== */
-/* === Definitions ========================================================== */
-/* ========================================================================== */
-
-#define MAX(a,b) (((a) > (b)) ? (a) : (b))
-#define MIN(a,b) (((a) < (b)) ? (a) : (b))
-
-#define ONES_COMPLEMENT(r) (-(r)-1)
-
-#define TRUE	(1)
-#define FALSE	(0)
-#define EMPTY	(-1)
-
-/* Row and column status */
-#define ALIVE	(0)
-#define DEAD	(-1)
-
-/* Column status */
-#define DEAD_PRINCIPAL		(-1)
-#define DEAD_NON_PRINCIPAL	(-2)
-
-/* Macros for row and column status update and checking. */
-#define ROW_IS_DEAD(r)			ROW_IS_MARKED_DEAD (Row[r].shared2.mark)
-#define ROW_IS_MARKED_DEAD(row_mark)	(row_mark < ALIVE)
-#define ROW_IS_ALIVE(r)			(Row [r].shared2.mark >= ALIVE)
-#define COL_IS_DEAD(c)			(Col [c].start < ALIVE)
-#define COL_IS_ALIVE(c)			(Col [c].start >= ALIVE)
-#define COL_IS_DEAD_PRINCIPAL(c)	(Col [c].start == DEAD_PRINCIPAL)
-#define KILL_ROW(r)			{ Row [r].shared2.mark = DEAD ; }
-#define KILL_PRINCIPAL_COL(c)		{ Col [c].start = DEAD_PRINCIPAL ; }
-#define KILL_NON_PRINCIPAL_COL(c)	{ Col [c].start = DEAD_NON_PRINCIPAL ; }
-
-/* Routines are either PUBLIC (user-callable) or PRIVATE (not user-callable) */
-#define PUBLIC
-#define PRIVATE static
-
-/* ========================================================================== */
-/* === Prototypes of PRIVATE routines ======================================= */
-/* ========================================================================== */
-
-PRIVATE int init_rows_cols
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int p []
-) ;
-
-PRIVATE void init_scoring
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int head [],
-    double knobs [COLAMD_KNOBS],
-    int *p_n_row2,
-    int *p_n_col2,
-    int *p_max_deg
-) ;
-
-PRIVATE int find_ordering
-(
-    int n_row,
-    int n_col,
-    int Alen,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int head [],
-    int n_col2,
-    int max_deg,
-    int pfree
-) ;
-
-PRIVATE void order_children
-(
-    int n_col,
-    ColInfo Col [],
-    int p []
-) ;
-
-PRIVATE void detect_super_cols
-(
-#ifndef NDEBUG
-    int n_col,
-    RowInfo Row [],
-#endif
-    ColInfo Col [],
-    int A [],
-    int head [],
-    int row_start,
-    int row_length
-) ;
-
-PRIVATE int garbage_collection
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int *pfree
-) ;
-
-PRIVATE int clear_mark
-(
-    int n_row,
-    RowInfo Row []
-) ;
-
-/* ========================================================================== */
-/* === Debugging definitions ================================================ */
-/* ========================================================================== */
-
-#ifndef NDEBUG
-
-/* === With debugging ======================================================= */
-
-/* stdlib.h: for getenv and atoi, to get debugging level from environment */
-#include <stdlib.h>
-
-/* stdio.h:  for printf (no printing if debugging is turned off) */
-#include <stdio.h>
-
-PRIVATE void debug_deg_lists
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int head [],
-    int min_score,
-    int should,
-    int max_deg
-) ;
-
-PRIVATE void debug_mark
-(
-    int n_row,
-    RowInfo Row [],
-    int tag_mark,
-    int max_mark
-) ;
-
-PRIVATE void debug_matrix
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A []
-) ;
-
-PRIVATE void debug_structures
-(
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int n_col2
-) ;
-
-/* the following is the *ONLY* global variable in this file, and is only */
-/* present when debugging */
-
-PRIVATE int debug_colamd ;	/* debug print level */
-
-#define DEBUG0(params) { (void) printf params ; }
-#define DEBUG1(params) { if (debug_colamd >= 1) (void) printf params ; }
-#define DEBUG2(params) { if (debug_colamd >= 2) (void) printf params ; }
-#define DEBUG3(params) { if (debug_colamd >= 3) (void) printf params ; }
-#define DEBUG4(params) { if (debug_colamd >= 4) (void) printf params ; }
-
-#else
-
-/* === No debugging ========================================================= */
-
-#define DEBUG0(params) ;
-#define DEBUG1(params) ;
-#define DEBUG2(params) ;
-#define DEBUG3(params) ;
-#define DEBUG4(params) ;
-
-#endif
-
-/* ========================================================================== */
-
-
-/* ========================================================================== */
-/* === USER-CALLABLE ROUTINES: ============================================== */
-/* ========================================================================== */
-
-
-/* ========================================================================== */
-/* === colamd_recommended =================================================== */
-/* ========================================================================== */
-
-/*
-    The colamd_recommended routine returns the suggested size for Alen.  This
-    value has been determined to provide good balance between the number of
-    garbage collections and the memory requirements for colamd.
-*/
-
-PUBLIC int colamd_recommended	/* returns recommended value of Alen. */
-(
-    /* === Parameters ======================================================= */
-
-    int nnz,			/* number of nonzeros in A */
-    int n_row,			/* number of rows in A */
-    int n_col			/* number of columns in A */
-)
-{
-    /* === Local variables ================================================== */
-
-    int minimum ;		/* bare minimum requirements */
-    int recommended ;		/* recommended value of Alen */
-
-    if (nnz < 0 || n_row < 0 || n_col < 0)
-    {
-	/* return -1 if any input argument is corrupted */
-	DEBUG0 (("colamd_recommended error!")) ;
-	DEBUG0 ((" nnz: %d, n_row: %d, n_col: %d\n", nnz, n_row, n_col)) ;
-	return (-1) ;
-    }
-
-    minimum =
-	2 * (nnz)		/* for A */
-	+ (((n_col) + 1) * sizeof (ColInfo) / sizeof (int))	/* for Col */
-	+ (((n_row) + 1) * sizeof (RowInfo) / sizeof (int))	/* for Row */
-	+ n_col			/* minimum elbow room to guarrantee success */
-	+ COLAMD_STATS ;	/* for output statistics */
-
-    /* recommended is equal to the minumum plus enough memory to keep the */
-    /* number garbage collections low */
-    recommended = minimum + nnz/5 ;
-
-    return (recommended) ;
-}
-
-
-/* ========================================================================== */
-/* === colamd_set_defaults ================================================== */
-/* ========================================================================== */
-
-/*
-    The colamd_set_defaults routine sets the default values of the user-
-    controllable parameters for colamd:
-
-	knobs [0]	rows with knobs[0]*n_col entries or more are removed
-			prior to ordering.
-
-	knobs [1]	columns with knobs[1]*n_row entries or more are removed
-			prior to ordering, and placed last in the column
-			permutation.
-
-	knobs [2..19]	unused, but future versions might use this
-*/
-
-PUBLIC void colamd_set_defaults
-(
-    /* === Parameters ======================================================= */
-
-    double knobs [COLAMD_KNOBS]		/* knob array */
-)
-{
-    /* === Local variables ================================================== */
-
-    int i ;
-
-    if (!knobs)
-    {
-	return ;			/* no knobs to initialize */
-    }
-    for (i = 0 ; i < COLAMD_KNOBS ; i++)
-    {
-	knobs [i] = 0 ;
-    }
-    knobs [COLAMD_DENSE_ROW] = 0.5 ;	/* ignore rows over 50% dense */
-    knobs [COLAMD_DENSE_COL] = 0.5 ;	/* ignore columns over 50% dense */
-}
-
-
-/* ========================================================================== */
-/* === colamd =============================================================== */
-/* ========================================================================== */
-
-/*
-    The colamd routine computes a column ordering Q of a sparse matrix
-    A such that the LU factorization P(AQ) = LU remains sparse, where P is
-    selected via partial pivoting.   The routine can also be viewed as
-    providing a permutation Q such that the Cholesky factorization
-    (AQ)'(AQ) = LL' remains sparse.
-
-    On input, the nonzero patterns of the columns of A are stored in the
-    array A, in order 0 to n_col-1.  A is held in 0-based form (rows in the
-    range 0 to n_row-1 and columns in the range 0 to n_col-1).  Row indices
-    for column c are located in A [(p [c]) ... (p [c+1]-1)], where p [0] = 0,
-    and thus p [n_col] is the number of entries in A.  The matrix is
-    destroyed on output.  The row indices within each column do not have to
-    be sorted (from small to large row indices), and duplicate row indices
-    may be present.  However, colamd will work a little faster if columns are
-    sorted and no duplicates are present.  Matlab 5.2 always passes the matrix
-    with sorted columns, and no duplicates.
-
-    The integer array A is of size Alen.  Alen must be at least of size
-    (where nnz is the number of entries in A):
-
-	nnz			for the input column form of A
-	+ nnz			for a row form of A that colamd generates
-	+ 6*(n_col+1)		for a ColInfo Col [0..n_col] array
-				(this assumes sizeof (ColInfo) is 6 int's).
-	+ 4*(n_row+1)		for a RowInfo Row [0..n_row] array
-				(this assumes sizeof (RowInfo) is 4 int's).
-	+ elbow_room		must be at least n_col.  We recommend at least
-				nnz/5 in addition to that.  If sufficient,
-				changes in the elbow room affect the ordering
-				time only, not the ordering itself.
-	+ COLAMD_STATS		for the output statistics
-
-    Colamd returns FALSE is memory is insufficient, or TRUE otherwise.
-
-    On input, the caller must specify:
-
-	n_row			the number of rows of A
-	n_col			the number of columns of A
-	Alen			the size of the array A
-	A [0 ... nnz-1]		the row indices, where nnz = p [n_col]
-	A [nnz ... Alen-1]	(need not be initialized by the user)
-	p [0 ... n_col]		the column pointers,  p [0] = 0, and p [n_col]
-				is the number of entries in A.  Column c of A
-				is stored in A [p [c] ... p [c+1]-1].
-	knobs [0 ... 19]	a set of parameters that control the behavior
-				of colamd.  If knobs is a NULL pointer the
-				defaults are used.  The user-callable
-				colamd_set_defaults routine sets the default
-				parameters.  See that routine for a description
-				of the user-controllable parameters.
-
-    If the return value of Colamd is TRUE, then on output:
-
-	p [0 ... n_col-1]	the column permutation. p [0] is the first
-				column index, and p [n_col-1] is the last.
-				That is, p [k] = j means that column j of A
-				is the kth column of AQ.
-
-	A			is undefined on output (the matrix pattern is
-				destroyed), except for the following statistics:
-
-	A [0]			the number of dense (or empty) rows ignored
-	A [1]			the number of dense (or empty) columms.  These
-				are ordered last, in their natural order.
-	A [2]			the number of garbage collections performed.
-				If this is excessive, then you would have
-				gotten your results faster if Alen was larger.
-	A [3]			0, if all row indices in each column were in
-				sorted order and no duplicates were present.
-				1, if there were unsorted or duplicate row
-				indices in the input.  You would have gotten
-				your results faster if A [3] was returned as 0.
-
-    If the return value of Colamd is FALSE, then A and p are undefined on
-    output.
-*/
-
-PUBLIC int colamd		/* returns TRUE if successful */
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,			/* number of rows in A */
-    int n_col,			/* number of columns in A */
-    int Alen,			/* length of A */
-    int A [],			/* row indices of A */
-    int p [],			/* pointers to columns in A */
-    double knobs [COLAMD_KNOBS]	/* parameters (uses defaults if NULL) */
-)
-{
-    /* === Local variables ================================================== */
-
-    int i ;			/* loop index */
-    int nnz ;			/* nonzeros in A */
-    int Row_size ;		/* size of Row [], in integers */
-    int Col_size ;		/* size of Col [], in integers */
-    int elbow_room ;		/* remaining free space */
-    RowInfo *Row ;		/* pointer into A of Row [0..n_row] array */
-    ColInfo *Col ;		/* pointer into A of Col [0..n_col] array */
-    int n_col2 ;		/* number of non-dense, non-empty columns */
-    int n_row2 ;		/* number of non-dense, non-empty rows */
-    int ngarbage ;		/* number of garbage collections performed */
-    int max_deg ;		/* maximum row degree */
-    double default_knobs [COLAMD_KNOBS] ;	/* default knobs knobs array */
-    int init_result ;		/* return code from initialization */
-
-#ifndef NDEBUG
-    debug_colamd = 0 ;		/* no debug printing */
-    /* get "D" environment variable, which gives the debug printing level */
-    if (getenv ("D")) debug_colamd = atoi (getenv ("D")) ;
-    DEBUG0 (("debug version, D = %d (THIS WILL BE SLOOOOW!)\n", debug_colamd)) ;
-#endif
-
-    /* === Check the input arguments ======================================== */
-
-    if (n_row < 0 || n_col < 0 || !A || !p)
-    {
-	/* n_row and n_col must be non-negative, A and p must be present */
-	DEBUG0 (("colamd error! %d %d %d\n", n_row, n_col, Alen)) ;
-	return (FALSE) ;
-    }
-    nnz = p [n_col] ;
-    if (nnz < 0 || p [0] != 0)
-    {
-	/* nnz must be non-negative, and p [0] must be zero */
-	DEBUG0 (("colamd error! %d %d\n", nnz, p [0])) ;
-	return (FALSE) ;
-    }
-
-    /* === If no knobs, set default parameters ============================== */
-
-    if (!knobs)
-    {
-	knobs = default_knobs ;
-	colamd_set_defaults (knobs) ;
-    }
-
-    /* === Allocate the Row and Col arrays from array A ===================== */
-
-    Col_size = (n_col + 1) * sizeof (ColInfo) / sizeof (int) ;
-    Row_size = (n_row + 1) * sizeof (RowInfo) / sizeof (int) ;
-    elbow_room = Alen - (2*nnz + Col_size + Row_size) ;
-    if (elbow_room < n_col + COLAMD_STATS)
-    {
-	/* not enough space in array A to perform the ordering */
-	DEBUG0 (("colamd error! elbow_room %d, %d\n", elbow_room,n_col)) ;
-	return (FALSE) ;
-    }
-    Alen = 2*nnz + elbow_room ;
-    Col  = (ColInfo *) &A [Alen] ;
-    Row  = (RowInfo *) &A [Alen + Col_size] ;
-
-    /* === Construct the row and column data structures ===================== */
-
-    init_result = init_rows_cols (n_row, n_col, Row, Col, A, p) ;
-    if (init_result == -1)
-    {
-	/* input matrix is invalid */
-	DEBUG0 (("colamd error! matrix invalid\n")) ;
-	return (FALSE) ;
-    }
-
-    /* === Initialize scores, kill dense rows/columns ======================= */
-
-    init_scoring (n_row, n_col, Row, Col, A, p, knobs,
-	&n_row2, &n_col2, &max_deg) ;
-
-    /* === Order the supercolumns =========================================== */
-
-    ngarbage = find_ordering (n_row, n_col, Alen, Row, Col, A, p,
-	n_col2, max_deg, 2*nnz) ;
-
-    /* === Order the non-principal columns ================================== */
-
-    order_children (n_col, Col, p) ;
-
-    /* === Return statistics in A =========================================== */
-
-    for (i = 0 ; i < COLAMD_STATS ; i++)
-    {
-	A [i] = 0 ;
-    }
-    A [COLAMD_DENSE_ROW] = n_row - n_row2 ;
-    A [COLAMD_DENSE_COL] = n_col - n_col2 ;
-    A [COLAMD_DEFRAG_COUNT] = ngarbage ;
-    A [COLAMD_JUMBLED_COLS] = init_result ;
-
-    return (TRUE) ;
-}
-
-
-/* ========================================================================== */
-/* === NON-USER-CALLABLE ROUTINES: ========================================== */
-/* ========================================================================== */
-
-/* There are no user-callable routines beyond this point in the file */
-
-
-/* ========================================================================== */
-/* === init_rows_cols ======================================================= */
-/* ========================================================================== */
-
-/*
-    Takes the column form of the matrix in A and creates the row form of the
-    matrix.  Also, row and column attributes are stored in the Col and Row
-    structs.  If the columns are un-sorted or contain duplicate row indices,
-    this routine will also sort and remove duplicate row indices from the
-    column form of the matrix.  Returns -1 on error, 1 if columns jumbled,
-    or 0 if columns not jumbled.  Not user-callable.
-*/
-
-PRIVATE int init_rows_cols	/* returns status code */
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,			/* number of rows of A */
-    int n_col,			/* number of columns of A */
-    RowInfo Row [],		/* of size n_row+1 */
-    ColInfo Col [],		/* of size n_col+1 */
-    int A [],			/* row indices of A, of size Alen */
-    int p []			/* pointers to columns in A, of size n_col+1 */
-)
-{
-    /* === Local variables ================================================== */
-
-    int col ;			/* a column index */
-    int row ;			/* a row index */
-    int *cp ;			/* a column pointer */
-    int *cp_end ;		/* a pointer to the end of a column */
-    int *rp ;			/* a row pointer */
-    int *rp_end ;		/* a pointer to the end of a row */
-    int last_start ;		/* start index of previous column in A */
-    int start ;			/* start index of column in A */
-    int last_row ;		/* previous row */
-    int jumbled_columns ;	/* indicates if columns are jumbled */
-
-    /* === Initialize columns, and check column pointers ==================== */
-
-    last_start = 0 ;
-    for (col = 0 ; col < n_col ; col++)
-    {
-	start = p [col] ;
-	if (start < last_start)
-	{
-	    /* column pointers must be non-decreasing */
-	    DEBUG0 (("colamd error!  last p %d p [col] %d\n",last_start,start));
-	    return (-1) ;
-	}
-	Col [col].start = start ;
-	Col [col].length = p [col+1] - start ;
-	Col [col].shared1.thickness = 1 ;
-	Col [col].shared2.score = 0 ;
-	Col [col].shared3.prev = EMPTY ;
-	Col [col].shared4.degree_next = EMPTY ;
-	last_start = start ;
-    }
-    /* must check the end pointer for last column */
-    if (p [n_col] < last_start)
-    {
-	/* column pointers must be non-decreasing */
-	DEBUG0 (("colamd error!  last p %d p [n_col] %d\n",p[col],last_start)) ;
-	return (-1) ;
-    }
-
-    /* p [0..n_col] no longer needed, used as "head" in subsequent routines */
-
-    /* === Scan columns, compute row degrees, and check row indices ========= */
-
-    jumbled_columns = FALSE ;
-
-    for (row = 0 ; row < n_row ; row++)
-    {
-	Row [row].length = 0 ;
-	Row [row].shared2.mark = -1 ;
-    }
-
-    for (col = 0 ; col < n_col ; col++)
-    {
-	last_row = -1 ;
-
-	cp = &A [p [col]] ;
-	cp_end = &A [p [col+1]] ;
-
-	while (cp < cp_end)
-	{
-	    row = *cp++ ;
-
-	    /* make sure row indices within range */
-	    if (row < 0 || row >= n_row)
-	    {
-		DEBUG0 (("colamd error!  col %d row %d last_row %d\n",
-			 col, row, last_row)) ;
-		return (-1) ;
-	    }
-	    else if (row <= last_row)
-	    {
-		/* row indices are not sorted or repeated, thus cols */
-		/* are jumbled */
-		jumbled_columns = TRUE ;
-	    }
-	    /* prevent repeated row from being counted */
-	    if (Row [row].shared2.mark != col)
-	    {
-		Row [row].length++ ;
-		Row [row].shared2.mark = col ;
-		last_row = row ;
-	    }
-	    else
-	    {
-		/* this is a repeated entry in the column, */
-		/* it will be removed */
-		Col [col].length-- ;
-	    }
-	}
-    }
-
-    /* === Compute row pointers ============================================= */
-
-    /* row form of the matrix starts directly after the column */
-    /* form of matrix in A */
-    Row [0].start = p [n_col] ;
-    Row [0].shared1.p = Row [0].start ;
-    Row [0].shared2.mark = -1 ;
-    for (row = 1 ; row < n_row ; row++)
-    {
-	Row [row].start = Row [row-1].start + Row [row-1].length ;
-	Row [row].shared1.p = Row [row].start ;
-	Row [row].shared2.mark = -1 ;
-    }
-
-    /* === Create row form ================================================== */
-
-    if (jumbled_columns)
-    {
-	/* if cols jumbled, watch for repeated row indices */
-	for (col = 0 ; col < n_col ; col++)
-	{
-	    cp = &A [p [col]] ;
-	    cp_end = &A [p [col+1]] ;
-	    while (cp < cp_end)
-	    {
-		row = *cp++ ;
-		if (Row [row].shared2.mark != col)
-		{
-		    A [(Row [row].shared1.p)++] = col ;
-		    Row [row].shared2.mark = col ;
-		}
-	    }
-	}
-    }
-    else
-    {
-	/* if cols not jumbled, we don't need the mark (this is faster) */
-	for (col = 0 ; col < n_col ; col++)
-	{
-	    cp = &A [p [col]] ;
-	    cp_end = &A [p [col+1]] ;
-	    while (cp < cp_end)
-	    {
-		A [(Row [*cp++].shared1.p)++] = col ;
-	    }
-	}
-    }
-
-    /* === Clear the row marks and set row degrees ========================== */
-
-    for (row = 0 ; row < n_row ; row++)
-    {
-	Row [row].shared2.mark = 0 ;
-	Row [row].shared1.degree = Row [row].length ;
-    }
-
-    /* === See if we need to re-create columns ============================== */
-
-    if (jumbled_columns)
-    {
-
-#ifndef NDEBUG
-	/* make sure column lengths are correct */
-	for (col = 0 ; col < n_col ; col++)
-	{
-	    p [col] = Col [col].length ;
-	}
-	for (row = 0 ; row < n_row ; row++)
-	{
-	    rp = &A [Row [row].start] ;
-	    rp_end = rp + Row [row].length ;
-	    while (rp < rp_end)
-	    {
-		p [*rp++]-- ;
-	    }
-	}
-	for (col = 0 ; col < n_col ; col++)
-	{
-	    assert (p [col] == 0) ;
-	}
-	/* now p is all zero (different than when debugging is turned off) */
-#endif
-
-	/* === Compute col pointers ========================================= */
-
-	/* col form of the matrix starts at A [0]. */
-	/* Note, we may have a gap between the col form and the row */
-	/* form if there were duplicate entries, if so, it will be */
-	/* removed upon the first garbage collection */
-	Col [0].start = 0 ;
-	p [0] = Col [0].start ;
-	for (col = 1 ; col < n_col ; col++)
-	{
-	    /* note that the lengths here are for pruned columns, i.e. */
-	    /* no duplicate row indices will exist for these columns */
-	    Col [col].start = Col [col-1].start + Col [col-1].length ;
-	    p [col] = Col [col].start ;
-	}
-
-	/* === Re-create col form =========================================== */
-
-	for (row = 0 ; row < n_row ; row++)
-	{
-	    rp = &A [Row [row].start] ;
-	    rp_end = rp + Row [row].length ;
-	    while (rp < rp_end)
-	    {
-		A [(p [*rp++])++] = row ;
-	    }
-	}
-	return (1) ;
-    }
-    else
-    {
-	/* no columns jumbled (this is faster) */
-	return (0) ;
-    }
-}
-
-
-/* ========================================================================== */
-/* === init_scoring ========================================================= */
-/* ========================================================================== */
-
-/*
-    Kills dense or empty columns and rows, calculates an initial score for
-    each column, and places all columns in the degree lists.  Not user-callable.
-*/
-
-PRIVATE void init_scoring
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,			/* number of rows of A */
-    int n_col,			/* number of columns of A */
-    RowInfo Row [],		/* of size n_row+1 */
-    ColInfo Col [],		/* of size n_col+1 */
-    int A [],			/* column form and row form of A */
-    int head [],		/* of size n_col+1 */
-    double knobs [COLAMD_KNOBS],/* parameters */
-    int *p_n_row2,		/* number of non-dense, non-empty rows */
-    int *p_n_col2,		/* number of non-dense, non-empty columns */
-    int *p_max_deg		/* maximum row degree */
-)
-{
-    /* === Local variables ================================================== */
-
-    int c ;			/* a column index */
-    int r, row ;		/* a row index */
-    int *cp ;			/* a column pointer */
-    int deg ;			/* degree (# entries) of a row or column */
-    int *cp_end ;		/* a pointer to the end of a column */
-    int *new_cp ;		/* new column pointer */
-    int col_length ;		/* length of pruned column */
-    int score ;			/* current column score */
-    int n_col2 ;		/* number of non-dense, non-empty columns */
-    int n_row2 ;		/* number of non-dense, non-empty rows */
-    int dense_row_count ;	/* remove rows with more entries than this */
-    int dense_col_count ;	/* remove cols with more entries than this */
-    int min_score ;		/* smallest column score */
-    int max_deg ;		/* maximum row degree */
-    int next_col ;		/* Used to add to degree list.*/
-#ifndef NDEBUG
-    int debug_count ;		/* debug only. */
-#endif
-
-    /* === Extract knobs ==================================================== */
-
-    dense_row_count = MAX (0, MIN (knobs [COLAMD_DENSE_ROW] * n_col, n_col)) ;
-    dense_col_count = MAX (0, MIN (knobs [COLAMD_DENSE_COL] * n_row, n_row)) ;
-    DEBUG0 (("densecount: %d %d\n", dense_row_count, dense_col_count)) ;
-    max_deg = 0 ;
-    n_col2 = n_col ;
-    n_row2 = n_row ;
-
-    /* === Kill empty columns =============================================== */
-
-    /* Put the empty columns at the end in their natural, so that LU */
-    /* factorization can proceed as far as possible. */
-    for (c = n_col-1 ; c >= 0 ; c--)
-    {
-	deg = Col [c].length ;
-	if (deg == 0)
-	{
-	    /* this is a empty column, kill and order it last */
-	    Col [c].shared2.order = --n_col2 ;
-	    KILL_PRINCIPAL_COL (c) ;
-	}
-    }
-    DEBUG0 (("null columns killed: %d\n", n_col - n_col2)) ;
-
-    /* === Kill dense columns =============================================== */
-
-    /* Put the dense columns at the end, in their natural order */
-    for (c = n_col-1 ; c >= 0 ; c--)
-    {
-	/* skip any dead columns */
-	if (COL_IS_DEAD (c))
-	{
-	    continue ;
-	}
-	deg = Col [c].length ;
-	if (deg > dense_col_count)
-	{
-	    /* this is a dense column, kill and order it last */
-	    Col [c].shared2.order = --n_col2 ;
-	    /* decrement the row degrees */
-	    cp = &A [Col [c].start] ;
-	    cp_end = cp + Col [c].length ;
-	    while (cp < cp_end)
-	    {
-		Row [*cp++].shared1.degree-- ;
-	    }
-	    KILL_PRINCIPAL_COL (c) ;
-	}
-    }
-    DEBUG0 (("Dense and null columns killed: %d\n", n_col - n_col2)) ;
-
-    /* === Kill dense and empty rows ======================================== */
-
-    for (r = 0 ; r < n_row ; r++)
-    {
-	deg = Row [r].shared1.degree ;
-	assert (deg >= 0 && deg <= n_col) ;
-	if (deg > dense_row_count || deg == 0)
-	{
-	    /* kill a dense or empty row */
-	    KILL_ROW (r) ;
-	    --n_row2 ;
-	}
-	else
-	{
-	    /* keep track of max degree of remaining rows */
-	    max_deg = MAX (max_deg, deg) ;
-	}
-    }
-    DEBUG0 (("Dense and null rows killed: %d\n", n_row - n_row2)) ;
-
-    /* === Compute initial column scores ==================================== */
-
-    /* At this point the row degrees are accurate.  They reflect the number */
-    /* of "live" (non-dense) columns in each row.  No empty rows exist. */
-    /* Some "live" columns may contain only dead rows, however.  These are */
-    /* pruned in the code below. */
-
-    /* now find the initial matlab score for each column */
-    for (c = n_col-1 ; c >= 0 ; c--)
-    {
-	/* skip dead column */
-	if (COL_IS_DEAD (c))
-	{
-	    continue ;
-	}
-	score = 0 ;
-	cp = &A [Col [c].start] ;
-	new_cp = cp ;
-	cp_end = cp + Col [c].length ;
-	while (cp < cp_end)
-	{
-	    /* get a row */
-	    row = *cp++ ;
-	    /* skip if dead */
-	    if (ROW_IS_DEAD (row))
-	    {
-		continue ;
-	    }
-	    /* compact the column */
-	    *new_cp++ = row ;
-	    /* add row's external degree */
-	    score += Row [row].shared1.degree - 1 ;
-	    /* guard against integer overflow */
-	    score = MIN (score, n_col) ;
-	}
-	/* determine pruned column length */
-	col_length = (int) (new_cp - &A [Col [c].start]) ;
-	if (col_length == 0)
-	{
-	    /* a newly-made null column (all rows in this col are "dense" */
-	    /* and have already been killed) */
-	    DEBUG0 (("Newly null killed: %d\n", c)) ;
-	    Col [c].shared2.order = --n_col2 ;
-	    KILL_PRINCIPAL_COL (c) ;
-	}
-	else
-	{
-	    /* set column length and set score */
-	    assert (score >= 0) ;
-	    assert (score <= n_col) ;
-	    Col [c].length = col_length ;
-	    Col [c].shared2.score = score ;
-	}
-    }
-    DEBUG0 (("Dense, null, and newly-null columns killed: %d\n",n_col-n_col2)) ;
-
-    /* At this point, all empty rows and columns are dead.  All live columns */
-    /* are "clean" (containing no dead rows) and simplicial (no supercolumns */
-    /* yet).  Rows may contain dead columns, but all live rows contain at */
-    /* least one live column. */
-
-#ifndef NDEBUG
-    debug_structures (n_row, n_col, Row, Col, A, n_col2) ;
-#endif
-
-    /* === Initialize degree lists ========================================== */
-
-#ifndef NDEBUG
-    debug_count = 0 ;
-#endif
-
-    /* clear the hash buckets */
-    for (c = 0 ; c <= n_col ; c++)
-    {
-	head [c] = EMPTY ;
-    }
-    min_score = n_col ;
-    /* place in reverse order, so low column indices are at the front */
-    /* of the lists.  This is to encourage natural tie-breaking */
-    for (c = n_col-1 ; c >= 0 ; c--)
-    {
-	/* only add principal columns to degree lists */
-	if (COL_IS_ALIVE (c))
-	{
-	    DEBUG4 (("place %d score %d minscore %d ncol %d\n",
-		c, Col [c].shared2.score, min_score, n_col)) ;
-
-	    /* === Add columns score to DList =============================== */
-
-	    score = Col [c].shared2.score ;
-
-	    assert (min_score >= 0) ;
-	    assert (min_score <= n_col) ;
-	    assert (score >= 0) ;
-	    assert (score <= n_col) ;
-	    assert (head [score] >= EMPTY) ;
-
-	    /* now add this column to dList at proper score location */
-	    next_col = head [score] ;
-	    Col [c].shared3.prev = EMPTY ;
-	    Col [c].shared4.degree_next = next_col ;
-
-	    /* if there already was a column with the same score, set its */
-	    /* previous pointer to this new column */
-	    if (next_col != EMPTY)
-	    {
-		Col [next_col].shared3.prev = c ;
-	    }
-	    head [score] = c ;
-
-	    /* see if this score is less than current min */
-	    min_score = MIN (min_score, score) ;
-
-#ifndef NDEBUG
-	    debug_count++ ;
-#endif
-	}
-    }
-
-#ifndef NDEBUG
-    DEBUG0 (("Live cols %d out of %d, non-princ: %d\n",
-	debug_count, n_col, n_col-debug_count)) ;
-    assert (debug_count == n_col2) ;
-    debug_deg_lists (n_row, n_col, Row, Col, head, min_score, n_col2, max_deg) ;
-#endif
-
-    /* === Return number of remaining columns, and max row degree =========== */
-
-    *p_n_col2 = n_col2 ;
-    *p_n_row2 = n_row2 ;
-    *p_max_deg = max_deg ;
-}
-
-
-/* ========================================================================== */
-/* === find_ordering ======================================================== */
-/* ========================================================================== */
-
-/*
-    Order the principal columns of the supercolumn form of the matrix
-    (no supercolumns on input).  Uses a minimum approximate column minimum
-    degree ordering method.  Not user-callable.
-*/
-
-PRIVATE int find_ordering	/* return the number of garbage collections */
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,			/* number of rows of A */
-    int n_col,			/* number of columns of A */
-    int Alen,			/* size of A, 2*nnz + elbow_room or larger */
-    RowInfo Row [],		/* of size n_row+1 */
-    ColInfo Col [],		/* of size n_col+1 */
-    int A [],			/* column form and row form of A */
-    int head [],		/* of size n_col+1 */
-    int n_col2,			/* Remaining columns to order */
-    int max_deg,		/* Maximum row degree */
-    int pfree			/* index of first free slot (2*nnz on entry) */
-)
-{
-    /* === Local variables ================================================== */
-
-    int k ;			/* current pivot ordering step */
-    int pivot_col ;		/* current pivot column */
-    int *cp ;			/* a column pointer */
-    int *rp ;			/* a row pointer */
-    int pivot_row ;		/* current pivot row */
-    int *new_cp ;		/* modified column pointer */
-    int *new_rp ;		/* modified row pointer */
-    int pivot_row_start ;	/* pointer to start of pivot row */
-    int pivot_row_degree ;	/* # of columns in pivot row */
-    int pivot_row_length ;	/* # of supercolumns in pivot row */
-    int pivot_col_score ;	/* score of pivot column */
-    int needed_memory ;		/* free space needed for pivot row */
-    int *cp_end ;		/* pointer to the end of a column */
-    int *rp_end ;		/* pointer to the end of a row */
-    int row ;			/* a row index */
-    int col ;			/* a column index */
-    int max_score ;		/* maximum possible score */
-    int cur_score ;		/* score of current column */
-    unsigned int hash ;		/* hash value for supernode detection */
-    int head_column ;		/* head of hash bucket */
-    int first_col ;		/* first column in hash bucket */
-    int tag_mark ;		/* marker value for mark array */
-    int row_mark ;		/* Row [row].shared2.mark */
-    int set_difference ;	/* set difference size of row with pivot row */
-    int min_score ;		/* smallest column score */
-    int col_thickness ;		/* "thickness" (# of columns in a supercol) */
-    int max_mark ;		/* maximum value of tag_mark */
-    int pivot_col_thickness ;	/* number of columns represented by pivot col */
-    int prev_col ;		/* Used by Dlist operations. */
-    int next_col ;		/* Used by Dlist operations. */
-    int ngarbage ;		/* number of garbage collections performed */
-#ifndef NDEBUG
-    int debug_d ;		/* debug loop counter */
-    int debug_step = 0 ;	/* debug loop counter */
-#endif
-
-    /* === Initialization and clear mark ==================================== */
-
-    max_mark = INT_MAX - n_col ;	/* INT_MAX defined in <limits.h> */
-    tag_mark = clear_mark (n_row, Row) ;
-    min_score = 0 ;
-    ngarbage = 0 ;
-    DEBUG0 (("Ordering.. n_col2=%d\n", n_col2)) ;
-
-    /* === Order the columns ================================================ */
-
-    for (k = 0 ; k < n_col2 ; /* 'k' is incremented below */)
-    {
-
-#ifndef NDEBUG
-	if (debug_step % 100 == 0)
-	{
-	    DEBUG0 (("\n...       Step k: %d out of n_col2: %d\n", k, n_col2)) ;
-	}
-	else
-	{
-	    DEBUG1 (("\n----------Step k: %d out of n_col2: %d\n", k, n_col2)) ;
-	}
-	debug_step++ ;
-	debug_deg_lists (n_row, n_col, Row, Col, head,
-		min_score, n_col2-k, max_deg) ;
-	debug_matrix (n_row, n_col, Row, Col, A) ;
-#endif
-
-	/* === Select pivot column, and order it ============================ */
-
-	/* make sure degree list isn't empty */
-	assert (min_score >= 0) ;
-	assert (min_score <= n_col) ;
-	assert (head [min_score] >= EMPTY) ;
-
-#ifndef NDEBUG
-	for (debug_d = 0 ; debug_d < min_score ; debug_d++)
-	{
-	    assert (head [debug_d] == EMPTY) ;
-	}
-#endif
-
-	/* get pivot column from head of minimum degree list */
-	while (head [min_score] == EMPTY && min_score < n_col)
-	{
-	    min_score++ ;
-	}
-	pivot_col = head [min_score] ;
-	assert (pivot_col >= 0 && pivot_col <= n_col) ;
-	next_col = Col [pivot_col].shared4.degree_next ;
-	head [min_score] = next_col ;
-	if (next_col != EMPTY)
-	{
-	    Col [next_col].shared3.prev = EMPTY ;
-	}
-
-	assert (COL_IS_ALIVE (pivot_col)) ;
-	DEBUG3 (("Pivot col: %d\n", pivot_col)) ;
-
-	/* remember score for defrag check */
-	pivot_col_score = Col [pivot_col].shared2.score ;
-
-	/* the pivot column is the kth column in the pivot order */
-	Col [pivot_col].shared2.order = k ;
-
-	/* increment order count by column thickness */
-	pivot_col_thickness = Col [pivot_col].shared1.thickness ;
-	k += pivot_col_thickness ;
-	assert (pivot_col_thickness > 0) ;
-
-	/* === Garbage_collection, if necessary ============================= */
-
-	needed_memory = MIN (pivot_col_score, n_col - k) ;
-	if (pfree + needed_memory >= Alen)
-	{
-	    pfree = garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
-	    ngarbage++ ;
-	    /* after garbage collection we will have enough */
-	    assert (pfree + needed_memory < Alen) ;
-	    /* garbage collection has wiped out the Row[].shared2.mark array */
-	    tag_mark = clear_mark (n_row, Row) ;
-#ifndef NDEBUG
-	    debug_matrix (n_row, n_col, Row, Col, A) ;
-#endif
-	}
-
-	/* === Compute pivot row pattern ==================================== */
-
-	/* get starting location for this new merged row */
-	pivot_row_start = pfree ;
-
-	/* initialize new row counts to zero */
-	pivot_row_degree = 0 ;
-
-	/* tag pivot column as having been visited so it isn't included */
-	/* in merged pivot row */
-	Col [pivot_col].shared1.thickness = -pivot_col_thickness ;
-
-	/* pivot row is the union of all rows in the pivot column pattern */
-	cp = &A [Col [pivot_col].start] ;
-	cp_end = cp + Col [pivot_col].length ;
-	while (cp < cp_end)
-	{
-	    /* get a row */
-	    row = *cp++ ;
-	    DEBUG4 (("Pivot col pattern %d %d\n", ROW_IS_ALIVE (row), row)) ;
-	    /* skip if row is dead */
-	    if (ROW_IS_DEAD (row))
-	    {
-		continue ;
-	    }
-	    rp = &A [Row [row].start] ;
-	    rp_end = rp + Row [row].length ;
-	    while (rp < rp_end)
-	    {
-		/* get a column */
-		col = *rp++ ;
-		/* add the column, if alive and untagged */
-		col_thickness = Col [col].shared1.thickness ;
-		if (col_thickness > 0 && COL_IS_ALIVE (col))
-		{
-		    /* tag column in pivot row */
-		    Col [col].shared1.thickness = -col_thickness ;
-		    assert (pfree < Alen) ;
-		    /* place column in pivot row */
-		    A [pfree++] = col ;
-		    pivot_row_degree += col_thickness ;
-		}
-	    }
-	}
-
-	/* clear tag on pivot column */
-	Col [pivot_col].shared1.thickness = pivot_col_thickness ;
-	max_deg = MAX (max_deg, pivot_row_degree) ;
-
-#ifndef NDEBUG
-	DEBUG3 (("check2\n")) ;
-	debug_mark (n_row, Row, tag_mark, max_mark) ;
-#endif
-
-	/* === Kill all rows used to construct pivot row ==================== */
-
-	/* also kill pivot row, temporarily */
-	cp = &A [Col [pivot_col].start] ;
-	cp_end = cp + Col [pivot_col].length ;
-	while (cp < cp_end)
-	{
-	    /* may be killing an already dead row */
-	    row = *cp++ ;
-	    DEBUG2 (("Kill row in pivot col: %d\n", row)) ;
-	    KILL_ROW (row) ;
-	}
-
-	/* === Select a row index to use as the new pivot row =============== */
-
-	pivot_row_length = pfree - pivot_row_start ;
-	if (pivot_row_length > 0)
-	{
-	    /* pick the "pivot" row arbitrarily (first row in col) */
-	    pivot_row = A [Col [pivot_col].start] ;
-	    DEBUG2 (("Pivotal row is %d\n", pivot_row)) ;
-	}
-	else
-	{
-	    /* there is no pivot row, since it is of zero length */
-	    pivot_row = EMPTY ;
-	    assert (pivot_row_length == 0) ;
-	}
-	assert (Col [pivot_col].length > 0 || pivot_row_length == 0) ;
-
-	/* === Approximate degree computation =============================== */
-
-	/* Here begins the computation of the approximate degree.  The column */
-	/* score is the sum of the pivot row "length", plus the size of the */
-	/* set differences of each row in the column minus the pattern of the */
-	/* pivot row itself.  The column ("thickness") itself is also */
-	/* excluded from the column score (we thus use an approximate */
-	/* external degree). */
-
-	/* The time taken by the following code (compute set differences, and */
-	/* add them up) is proportional to the size of the data structure */
-	/* being scanned - that is, the sum of the sizes of each column in */
-	/* the pivot row.  Thus, the amortized time to compute a column score */
-	/* is proportional to the size of that column (where size, in this */
-	/* context, is the column "length", or the number of row indices */
-	/* in that column).  The number of row indices in a column is */
-	/* monotonically non-decreasing, from the length of the original */
-	/* column on input to colamd. */
-
-	/* === Compute set differences ====================================== */
-
-	DEBUG1 (("** Computing set differences phase. **\n")) ;
-
-	/* pivot row is currently dead - it will be revived later. */
-
-	DEBUG2 (("Pivot row: ")) ;
-	/* for each column in pivot row */
-	rp = &A [pivot_row_start] ;
-	rp_end = rp + pivot_row_length ;
-	while (rp < rp_end)
-	{
-	    col = *rp++ ;
-	    assert (COL_IS_ALIVE (col) && col != pivot_col) ;
-	    DEBUG2 (("Col: %d\n", col)) ;
-
-	    /* clear tags used to construct pivot row pattern */
-	    col_thickness = -Col [col].shared1.thickness ;
-	    assert (col_thickness > 0) ;
-	    Col [col].shared1.thickness = col_thickness ;
-
-	    /* === Remove column from degree list =========================== */
-
-	    cur_score = Col [col].shared2.score ;
-	    prev_col = Col [col].shared3.prev ;
-	    next_col = Col [col].shared4.degree_next ;
-	    assert (cur_score >= 0) ;
-	    assert (cur_score <= n_col) ;
-	    assert (cur_score >= EMPTY) ;
-	    if (prev_col == EMPTY)
-	    {
-		head [cur_score] = next_col ;
-	    }
-	    else
-	    {
-		Col [prev_col].shared4.degree_next = next_col ;
-	    }
-	    if (next_col != EMPTY)
-	    {
-		Col [next_col].shared3.prev = prev_col ;
-	    }
-
-	    /* === Scan the column ========================================== */
-
-	    cp = &A [Col [col].start] ;
-	    cp_end = cp + Col [col].length ;
-	    while (cp < cp_end)
-	    {
-		/* get a row */
-		row = *cp++ ;
-		row_mark = Row [row].shared2.mark ;
-		/* skip if dead */
-		if (ROW_IS_MARKED_DEAD (row_mark))
-		{
-		    continue ;
-		}
-		assert (row != pivot_row) ;
-		set_difference = row_mark - tag_mark ;
-		/* check if the row has been seen yet */
-		if (set_difference < 0)
-		{
-		    assert (Row [row].shared1.degree <= max_deg) ;
-		    set_difference = Row [row].shared1.degree ;
-		}
-		/* subtract column thickness from this row's set difference */
-		set_difference -= col_thickness ;
-		assert (set_difference >= 0) ;
-		/* absorb this row if the set difference becomes zero */
-		if (set_difference == 0)
-		{
-		    DEBUG1 (("aggressive absorption. Row: %d\n", row)) ;
-		    KILL_ROW (row) ;
-		}
-		else
-		{
-		    /* save the new mark */
-		    Row [row].shared2.mark = set_difference + tag_mark ;
-		}
-	    }
-	}
-
-#ifndef NDEBUG
-	debug_deg_lists (n_row, n_col, Row, Col, head,
-		min_score, n_col2-k-pivot_row_degree, max_deg) ;
-#endif
-
-	/* === Add up set differences for each column ======================= */
-
-	DEBUG1 (("** Adding set differences phase. **\n")) ;
-
-	/* for each column in pivot row */
-	rp = &A [pivot_row_start] ;
-	rp_end = rp + pivot_row_length ;
-	while (rp < rp_end)
-	{
-	    /* get a column */
-	    col = *rp++ ;
-	    assert (COL_IS_ALIVE (col) && col != pivot_col) ;
-	    hash = 0 ;
-	    cur_score = 0 ;
-	    cp = &A [Col [col].start] ;
-	    /* compact the column */
-	    new_cp = cp ;
-	    cp_end = cp + Col [col].length ;
-
-	    DEBUG2 (("Adding set diffs for Col: %d.\n", col)) ;
-
-	    while (cp < cp_end)
-	    {
-		/* get a row */
-		row = *cp++ ;
-		assert(row >= 0 && row < n_row) ;
-		row_mark = Row [row].shared2.mark ;
-		/* skip if dead */
-		if (ROW_IS_MARKED_DEAD (row_mark))
-		{
-		    continue ;
-		}
-		assert (row_mark > tag_mark) ;
-		/* compact the column */
-		*new_cp++ = row ;
-		/* compute hash function */
-		hash += row ;
-		/* add set difference */
-		cur_score += row_mark - tag_mark ;
-		/* integer overflow... */
-		cur_score = MIN (cur_score, n_col) ;
-	    }
-
-	    /* recompute the column's length */
-	    Col [col].length = (int) (new_cp - &A [Col [col].start]) ;
-
-	    /* === Further mass elimination ================================= */
-
-	    if (Col [col].length == 0)
-	    {
-		DEBUG1 (("further mass elimination. Col: %d\n", col)) ;
-		/* nothing left but the pivot row in this column */
-		KILL_PRINCIPAL_COL (col) ;
-		pivot_row_degree -= Col [col].shared1.thickness ;
-		assert (pivot_row_degree >= 0) ;
-		/* order it */
-		Col [col].shared2.order = k ;
-		/* increment order count by column thickness */
-		k += Col [col].shared1.thickness ;
-	    }
-	    else
-	    {
-		/* === Prepare for supercolumn detection ==================== */
-
-		DEBUG2 (("Preparing supercol detection for Col: %d.\n", col)) ;
-
-		/* save score so far */
-		Col [col].shared2.score = cur_score ;
-
-		/* add column to hash table, for supercolumn detection */
-		hash %= n_col + 1 ;
-
-		DEBUG2 ((" Hash = %d, n_col = %d.\n", hash, n_col)) ;
-		assert (hash <= n_col) ;
-
-		head_column = head [hash] ;
-		if (head_column > EMPTY)
-		{
-		    /* degree list "hash" is non-empty, use prev (shared3) of */
-		    /* first column in degree list as head of hash bucket */
-		    first_col = Col [head_column].shared3.headhash ;
-		    Col [head_column].shared3.headhash = col ;
-		}
-		else
-		{
-		    /* degree list "hash" is empty, use head as hash bucket */
-		    first_col = - (head_column + 2) ;
-		    head [hash] = - (col + 2) ;
-		}
-		Col [col].shared4.hash_next = first_col ;
-
-		/* save hash function in Col [col].shared3.hash */
-		Col [col].shared3.hash = (int) hash ;
-		assert (COL_IS_ALIVE (col)) ;
-	    }
-	}
-
-	/* The approximate external column degree is now computed.  */
-
-	/* === Supercolumn detection ======================================== */
-
-	DEBUG1 (("** Supercolumn detection phase. **\n")) ;
-
-	detect_super_cols (
-#ifndef NDEBUG
-		n_col, Row,
-#endif
-		Col, A, head, pivot_row_start, pivot_row_length) ;
-
-	/* === Kill the pivotal column ====================================== */
-
-	KILL_PRINCIPAL_COL (pivot_col) ;
-
-	/* === Clear mark =================================================== */
-
-	tag_mark += (max_deg + 1) ;
-	if (tag_mark >= max_mark)
-	{
-	    DEBUG1 (("clearing tag_mark\n")) ;
-	    tag_mark = clear_mark (n_row, Row) ;
-	}
-#ifndef NDEBUG
-	DEBUG3 (("check3\n")) ;
-	debug_mark (n_row, Row, tag_mark, max_mark) ;
-#endif
-
-	/* === Finalize the new pivot row, and column scores ================ */
-
-	DEBUG1 (("** Finalize scores phase. **\n")) ;
-
-	/* for each column in pivot row */
-	rp = &A [pivot_row_start] ;
-	/* compact the pivot row */
-	new_rp = rp ;
-	rp_end = rp + pivot_row_length ;
-	while (rp < rp_end)
-	{
-	    col = *rp++ ;
-	    /* skip dead columns */
-	    if (COL_IS_DEAD (col))
-	    {
-		continue ;
-	    }
-	    *new_rp++ = col ;
-	    /* add new pivot row to column */
-	    A [Col [col].start + (Col [col].length++)] = pivot_row ;
-
-	    /* retrieve score so far and add on pivot row's degree. */
-	    /* (we wait until here for this in case the pivot */
-	    /* row's degree was reduced due to mass elimination). */
-	    cur_score = Col [col].shared2.score + pivot_row_degree ;
-
-	    /* calculate the max possible score as the number of */
-	    /* external columns minus the 'k' value minus the */
-	    /* columns thickness */
-	    max_score = n_col - k - Col [col].shared1.thickness ;
-
-	    /* make the score the external degree of the union-of-rows */
-	    cur_score -= Col [col].shared1.thickness ;
-
-	    /* make sure score is less or equal than the max score */
-	    cur_score = MIN (cur_score, max_score) ;
-	    assert (cur_score >= 0) ;
-
-	    /* store updated score */
-	    Col [col].shared2.score = cur_score ;
-
-	    /* === Place column back in degree list ========================= */
-
-	    assert (min_score >= 0) ;
-	    assert (min_score <= n_col) ;
-	    assert (cur_score >= 0) ;
-	    assert (cur_score <= n_col) ;
-	    assert (head [cur_score] >= EMPTY) ;
-	    next_col = head [cur_score] ;
-	    Col [col].shared4.degree_next = next_col ;
-	    Col [col].shared3.prev = EMPTY ;
-	    if (next_col != EMPTY)
-	    {
-		Col [next_col].shared3.prev = col ;
-	    }
-	    head [cur_score] = col ;
-
-	    /* see if this score is less than current min */
-	    min_score = MIN (min_score, cur_score) ;
-
-	}
-
-#ifndef NDEBUG
-	debug_deg_lists (n_row, n_col, Row, Col, head,
-		min_score, n_col2-k, max_deg) ;
-#endif
-
-	/* === Resurrect the new pivot row ================================== */
-
-	if (pivot_row_degree > 0)
-	{
-	    /* update pivot row length to reflect any cols that were killed */
-	    /* during super-col detection and mass elimination */
-	    Row [pivot_row].start  = pivot_row_start ;
-	    Row [pivot_row].length = (int) (new_rp - &A[pivot_row_start]) ;
-	    Row [pivot_row].shared1.degree = pivot_row_degree ;
-	    Row [pivot_row].shared2.mark = 0 ;
-	    /* pivot row is no longer dead */
-	}
-    }
-
-    /* === All principal columns have now been ordered ====================== */
-
-    return (ngarbage) ;
-}
-
-
-/* ========================================================================== */
-/* === order_children ======================================================= */
-/* ========================================================================== */
-
-/*
-    The find_ordering routine has ordered all of the principal columns (the
-    representatives of the supercolumns).  The non-principal columns have not
-    yet been ordered.  This routine orders those columns by walking up the
-    parent tree (a column is a child of the column which absorbed it).  The
-    final permutation vector is then placed in p [0 ... n_col-1], with p [0]
-    being the first column, and p [n_col-1] being the last.  It doesn't look
-    like it at first glance, but be assured that this routine takes time linear
-    in the number of columns.  Although not immediately obvious, the time
-    taken by this routine is O (n_col), that is, linear in the number of
-    columns.  Not user-callable.
-*/
-
-PRIVATE void order_children
-(
-    /* === Parameters ======================================================= */
-
-    int n_col,			/* number of columns of A */
-    ColInfo Col [],		/* of size n_col+1 */
-    int p []			/* p [0 ... n_col-1] is the column permutation*/
-)
-{
-    /* === Local variables ================================================== */
-
-    int i ;			/* loop counter for all columns */
-    int c ;			/* column index */
-    int parent ;		/* index of column's parent */
-    int order ;			/* column's order */
-
-    /* === Order each non-principal column ================================== */
-
-    for (i = 0 ; i < n_col ; i++)
-    {
-	/* find an un-ordered non-principal column */
-	assert (COL_IS_DEAD (i)) ;
-	if (!COL_IS_DEAD_PRINCIPAL (i) && Col [i].shared2.order == EMPTY)
-	{
-	    parent = i ;
-	    /* once found, find its principal parent */
-	    do
-	    {
-		parent = Col [parent].shared1.parent ;
-	    } while (!COL_IS_DEAD_PRINCIPAL (parent)) ;
-
-	    /* now, order all un-ordered non-principal columns along path */
-	    /* to this parent.  collapse tree at the same time */
-	    c = i ;
-	    /* get order of parent */
-	    order = Col [parent].shared2.order ;
-
-	    do
-	    {
-		assert (Col [c].shared2.order == EMPTY) ;
-
-		/* order this column */
-		Col [c].shared2.order = order++ ;
-		/* collaps tree */
-		Col [c].shared1.parent = parent ;
-
-		/* get immediate parent of this column */
-		c = Col [c].shared1.parent ;
-
-		/* continue until we hit an ordered column.  There are */
-		/* guarranteed not to be anymore unordered columns */
-		/* above an ordered column */
-	    } while (Col [c].shared2.order == EMPTY) ;
-
-	    /* re-order the super_col parent to largest order for this group */
-	    Col [parent].shared2.order = order ;
-	}
-    }
-
-    /* === Generate the permutation ========================================= */
-
-    for (c = 0 ; c < n_col ; c++)
-    {
-	p [Col [c].shared2.order] = c ;
-    }
-}
-
-
-/* ========================================================================== */
-/* === detect_super_cols ==================================================== */
-/* ========================================================================== */
-
-/*
-    Detects supercolumns by finding matches between columns in the hash buckets.
-    Check amongst columns in the set A [row_start ... row_start + row_length-1].
-    The columns under consideration are currently *not* in the degree lists,
-    and have already been placed in the hash buckets.
-
-    The hash bucket for columns whose hash function is equal to h is stored
-    as follows:
-
-	if head [h] is >= 0, then head [h] contains a degree list, so:
-
-		head [h] is the first column in degree bucket h.
-		Col [head [h]].headhash gives the first column in hash bucket h.
-
-	otherwise, the degree list is empty, and:
-
-		-(head [h] + 2) is the first column in hash bucket h.
-
-    For a column c in a hash bucket, Col [c].shared3.prev is NOT a "previous
-    column" pointer.  Col [c].shared3.hash is used instead as the hash number
-    for that column.  The value of Col [c].shared4.hash_next is the next column
-    in the same hash bucket.
-
-    Assuming no, or "few" hash collisions, the time taken by this routine is
-    linear in the sum of the sizes (lengths) of each column whose score has
-    just been computed in the approximate degree computation.
-    Not user-callable.
-*/
-
-PRIVATE void detect_super_cols
-(
-    /* === Parameters ======================================================= */
-
-#ifndef NDEBUG
-    /* these two parameters are only needed when debugging is enabled: */
-    int n_col,			/* number of columns of A */
-    RowInfo Row [],		/* of size n_row+1 */
-#endif
-    ColInfo Col [],		/* of size n_col+1 */
-    int A [],			/* row indices of A */
-    int head [],		/* head of degree lists and hash buckets */
-    int row_start,		/* pointer to set of columns to check */
-    int row_length		/* number of columns to check */
-)
-{
-    /* === Local variables ================================================== */
-
-    int hash ;			/* hash # for a column */
-    int *rp ;			/* pointer to a row */
-    int c ;			/* a column index */
-    int super_c ;		/* column index of the column to absorb into */
-    int *cp1 ;			/* column pointer for column super_c */
-    int *cp2 ;			/* column pointer for column c */
-    int length ;		/* length of column super_c */
-    int prev_c ;		/* column preceding c in hash bucket */
-    int i ;			/* loop counter */
-    int *rp_end ;		/* pointer to the end of the row */
-    int col ;			/* a column index in the row to check */
-    int head_column ;		/* first column in hash bucket or degree list */
-    int first_col ;		/* first column in hash bucket */
-
-    /* === Consider each column in the row ================================== */
-
-    rp = &A [row_start] ;
-    rp_end = rp + row_length ;
-    while (rp < rp_end)
-    {
-	col = *rp++ ;
-	if (COL_IS_DEAD (col))
-	{
-	    continue ;
-	}
-
-	/* get hash number for this column */
-	hash = Col [col].shared3.hash ;
-	assert (hash <= n_col) ;
-
-	/* === Get the first column in this hash bucket ===================== */
-
-	head_column = head [hash] ;
-	if (head_column > EMPTY)
-	{
-	    first_col = Col [head_column].shared3.headhash ;
-	}
-	else
-	{
-	    first_col = - (head_column + 2) ;
-	}
-
-	/* === Consider each column in the hash bucket ====================== */
-
-	for (super_c = first_col ; super_c != EMPTY ;
-	    super_c = Col [super_c].shared4.hash_next)
-	{
-	    assert (COL_IS_ALIVE (super_c)) ;
-	    assert (Col [super_c].shared3.hash == hash) ;
-	    length = Col [super_c].length ;
-
-	    /* prev_c is the column preceding column c in the hash bucket */
-	    prev_c = super_c ;
-
-	    /* === Compare super_c with all columns after it ================ */
-
-	    for (c = Col [super_c].shared4.hash_next ;
-		 c != EMPTY ; c = Col [c].shared4.hash_next)
-	    {
-		assert (c != super_c) ;
-		assert (COL_IS_ALIVE (c)) ;
-		assert (Col [c].shared3.hash == hash) ;
-
-		/* not identical if lengths or scores are different */
-		if (Col [c].length != length ||
-		    Col [c].shared2.score != Col [super_c].shared2.score)
-		{
-		    prev_c = c ;
-		    continue ;
-		}
-
-		/* compare the two columns */
-		cp1 = &A [Col [super_c].start] ;
-		cp2 = &A [Col [c].start] ;
-
-		for (i = 0 ; i < length ; i++)
-		{
-		    /* the columns are "clean" (no dead rows) */
-		    assert (ROW_IS_ALIVE (*cp1))  ;
-		    assert (ROW_IS_ALIVE (*cp2))  ;
-		    /* row indices will same order for both supercols, */
-		    /* no gather scatter nessasary */
-		    if (*cp1++ != *cp2++)
-		    {
-			break ;
-		    }
-		}
-
-		/* the two columns are different if the for-loop "broke" */
-		if (i != length)
-		{
-		    prev_c = c ;
-		    continue ;
-		}
-
-		/* === Got it!  two columns are identical =================== */
-
-		assert (Col [c].shared2.score == Col [super_c].shared2.score) ;
-
-		Col [super_c].shared1.thickness += Col [c].shared1.thickness ;
-		Col [c].shared1.parent = super_c ;
-		KILL_NON_PRINCIPAL_COL (c) ;
-		/* order c later, in order_children() */
-		Col [c].shared2.order = EMPTY ;
-		/* remove c from hash bucket */
-		Col [prev_c].shared4.hash_next = Col [c].shared4.hash_next ;
-	    }
-	}
-
-	/* === Empty this hash bucket ======================================= */
-
-	if (head_column > EMPTY)
-	{
-	    /* corresponding degree list "hash" is not empty */
-	    Col [head_column].shared3.headhash = EMPTY ;
-	}
-	else
-	{
-	    /* corresponding degree list "hash" is empty */
-	    head [hash] = EMPTY ;
-	}
-    }
-}
-
-
-/* ========================================================================== */
-/* === garbage_collection =================================================== */
-/* ========================================================================== */
-
-/*
-    Defragments and compacts columns and rows in the workspace A.  Used when
-    all avaliable memory has been used while performing row merging.  Returns
-    the index of the first free position in A, after garbage collection.  The
-    time taken by this routine is linear is the size of the array A, which is
-    itself linear in the number of nonzeros in the input matrix.
-    Not user-callable.
-*/
-
-PRIVATE int garbage_collection  /* returns the new value of pfree */
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,			/* number of rows */
-    int n_col,			/* number of columns */
-    RowInfo Row [],		/* row info */
-    ColInfo Col [],		/* column info */
-    int A [],			/* A [0 ... Alen-1] holds the matrix */
-    int *pfree			/* &A [0] ... pfree is in use */
-)
-{
-    /* === Local variables ================================================== */
-
-    int *psrc ;			/* source pointer */
-    int *pdest ;		/* destination pointer */
-    int j ;			/* counter */
-    int r ;			/* a row index */
-    int c ;			/* a column index */
-    int length ;		/* length of a row or column */
-
-#ifndef NDEBUG
-    int debug_rows ;
-    DEBUG0 (("Defrag..\n")) ;
-    for (psrc = &A[0] ; psrc < pfree ; psrc++) assert (*psrc >= 0) ;
-    debug_rows = 0 ;
-#endif
-
-    /* === Defragment the columns =========================================== */
-
-    pdest = &A[0] ;
-    for (c = 0 ; c < n_col ; c++)
-    {
-	if (COL_IS_ALIVE (c))
-	{
-	    psrc = &A [Col [c].start] ;
-
-	    /* move and compact the column */
-	    assert (pdest <= psrc) ;
-	    Col [c].start = (int) (pdest - &A [0]) ;
-	    length = Col [c].length ;
-	    for (j = 0 ; j < length ; j++)
-	    {
-		r = *psrc++ ;
-		if (ROW_IS_ALIVE (r))
-		{
-		    *pdest++ = r ;
-		}
-	    }
-	    Col [c].length = (int) (pdest - &A [Col [c].start]) ;
-	}
-    }
-
-    /* === Prepare to defragment the rows =================================== */
-
-    for (r = 0 ; r < n_row ; r++)
-    {
-	if (ROW_IS_ALIVE (r))
-	{
-	    if (Row [r].length == 0)
-	    {
-		/* this row is of zero length.  cannot compact it, so kill it */
-		DEBUG0 (("Defrag row kill\n")) ;
-		KILL_ROW (r) ;
-	    }
-	    else
-	    {
-		/* save first column index in Row [r].shared2.first_column */
-		psrc = &A [Row [r].start] ;
-		Row [r].shared2.first_column = *psrc ;
-		assert (ROW_IS_ALIVE (r)) ;
-		/* flag the start of the row with the one's complement of row */
-		*psrc = ONES_COMPLEMENT (r) ;
-#ifndef NDEBUG
-		debug_rows++ ;
-#endif
-	    }
-	}
-    }
-
-    /* === Defragment the rows ============================================== */
-
-    psrc = pdest ;
-    while (psrc < pfree)
-    {
-	/* find a negative number ... the start of a row */
-	if (*psrc++ < 0)
-	{
-	    psrc-- ;
-	    /* get the row index */
-	    r = ONES_COMPLEMENT (*psrc) ;
-	    assert (r >= 0 && r < n_row) ;
-	    /* restore first column index */
-	    *psrc = Row [r].shared2.first_column ;
-	    assert (ROW_IS_ALIVE (r)) ;
-
-	    /* move and compact the row */
-	    assert (pdest <= psrc) ;
-	    Row [r].start = (int) (pdest - &A [0]) ;
-	    length = Row [r].length ;
-	    for (j = 0 ; j < length ; j++)
-	    {
-		c = *psrc++ ;
-		if (COL_IS_ALIVE (c))
-		{
-		    *pdest++ = c ;
-		}
-	    }
-	    Row [r].length = (int) (pdest - &A [Row [r].start]) ;
-#ifndef NDEBUG
-	    debug_rows-- ;
-#endif
-	}
-    }
-    /* ensure we found all the rows */
-    assert (debug_rows == 0) ;
-
-    /* === Return the new value of pfree ==================================== */
-
-    return ((int) (pdest - &A [0])) ;
-}
-
-
-/* ========================================================================== */
-/* === clear_mark =========================================================== */
-/* ========================================================================== */
-
-/*
-    Clears the Row [].shared2.mark array, and returns the new tag_mark.
-    Return value is the new tag_mark.  Not user-callable.
-*/
-
-PRIVATE int clear_mark	/* return the new value for tag_mark */
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,		/* number of rows in A */
-    RowInfo Row []	/* Row [0 ... n_row-1].shared2.mark is set to zero */
-)
-{
-    /* === Local variables ================================================== */
-
-    int r ;
-
-    DEBUG0 (("Clear mark\n")) ;
-    for (r = 0 ; r < n_row ; r++)
-    {
-	if (ROW_IS_ALIVE (r))
-	{
-	    Row [r].shared2.mark = 0 ;
-	}
-    }
-    return (1) ;
-}
-
-
-/* ========================================================================== */
-/* === debugging routines =================================================== */
-/* ========================================================================== */
-
-/* When debugging is disabled, the remainder of this file is ignored. */
-
-#ifndef NDEBUG
-
-
-/* ========================================================================== */
-/* === debug_structures ===================================================== */
-/* ========================================================================== */
-
-/*
-    At this point, all empty rows and columns are dead.  All live columns
-    are "clean" (containing no dead rows) and simplicial (no supercolumns
-    yet).  Rows may contain dead columns, but all live rows contain at
-    least one live column.
-*/
-
-PRIVATE void debug_structures
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A [],
-    int n_col2
-)
-{
-    /* === Local variables ================================================== */
-
-    int i ;
-    int c ;
-    int *cp ;
-    int *cp_end ;
-    int len ;
-    int score ;
-    int r ;
-    int *rp ;
-    int *rp_end ;
-    int deg ;
-
-    /* === Check A, Row, and Col ============================================ */
-
-    for (c = 0 ; c < n_col ; c++)
-    {
-	if (COL_IS_ALIVE (c))
-	{
-	    len = Col [c].length ;
-	    score = Col [c].shared2.score ;
-	    DEBUG4 (("initial live col %5d %5d %5d\n", c, len, score)) ;
-	    assert (len > 0) ;
-	    assert (score >= 0) ;
-	    assert (Col [c].shared1.thickness == 1) ;
-	    cp = &A [Col [c].start] ;
-	    cp_end = cp + len ;
-	    while (cp < cp_end)
-	    {
-		r = *cp++ ;
-		assert (ROW_IS_ALIVE (r)) ;
-	    }
-	}
-	else
-	{
-	    i = Col [c].shared2.order ;
-	    assert (i >= n_col2 && i < n_col) ;
-	}
-    }
-
-    for (r = 0 ; r < n_row ; r++)
-    {
-	if (ROW_IS_ALIVE (r))
-	{
-	    i = 0 ;
-	    len = Row [r].length ;
-	    deg = Row [r].shared1.degree ;
-	    assert (len > 0) ;
-	    assert (deg > 0) ;
-	    rp = &A [Row [r].start] ;
-	    rp_end = rp + len ;
-	    while (rp < rp_end)
-	    {
-		c = *rp++ ;
-		if (COL_IS_ALIVE (c))
-		{
-		    i++ ;
-		}
-	    }
-	    assert (i > 0) ;
-	}
-    }
-}
-
-
-/* ========================================================================== */
-/* === debug_deg_lists ====================================================== */
-/* ========================================================================== */
-
-/*
-    Prints the contents of the degree lists.  Counts the number of columns
-    in the degree list and compares it to the total it should have.  Also
-    checks the row degrees.
-*/
-
-PRIVATE void debug_deg_lists
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int head [],
-    int min_score,
-    int should,
-    int max_deg
-)
-{
-    /* === Local variables ================================================== */
-
-    int deg ;
-    int col ;
-    int have ;
-    int row ;
-
-    /* === Check the degree lists =========================================== */
-
-    if (n_col > 10000 && debug_colamd <= 0)
-    {
-	return ;
-    }
-    have = 0 ;
-    DEBUG4 (("Degree lists: %d\n", min_score)) ;
-    for (deg = 0 ; deg <= n_col ; deg++)
-    {
-	col = head [deg] ;
-	if (col == EMPTY)
-	{
-	    continue ;
-	}
-	DEBUG4 (("%d:", deg)) ;
-	while (col != EMPTY)
-	{
-	    DEBUG4 ((" %d", col)) ;
-	    have += Col [col].shared1.thickness ;
-	    assert (COL_IS_ALIVE (col)) ;
-	    col = Col [col].shared4.degree_next ;
-	}
-	DEBUG4 (("\n")) ;
-    }
-    DEBUG4 (("should %d have %d\n", should, have)) ;
-    assert (should == have) ;
-
-    /* === Check the row degrees ============================================ */
-
-    if (n_row > 10000 && debug_colamd <= 0)
-    {
-	return ;
-    }
-    for (row = 0 ; row < n_row ; row++)
-    {
-	if (ROW_IS_ALIVE (row))
-	{
-	    assert (Row [row].shared1.degree <= max_deg) ;
-	}
-    }
-}
-
-
-/* ========================================================================== */
-/* === debug_mark =========================================================== */
-/* ========================================================================== */
-
-/*
-    Ensures that the tag_mark is less that the maximum and also ensures that
-    each entry in the mark array is less than the tag mark.
-*/
-
-PRIVATE void debug_mark
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,
-    RowInfo Row [],
-    int tag_mark,
-    int max_mark
-)
-{
-    /* === Local variables ================================================== */
-
-    int r ;
-
-    /* === Check the Row marks ============================================== */
-
-    assert (tag_mark > 0 && tag_mark <= max_mark) ;
-    if (n_row > 10000 && debug_colamd <= 0)
-    {
-	return ;
-    }
-    for (r = 0 ; r < n_row ; r++)
-    {
-	assert (Row [r].shared2.mark < tag_mark) ;
-    }
-}
-
-
-/* ========================================================================== */
-/* === debug_matrix ========================================================= */
-/* ========================================================================== */
-
-/*
-    Prints out the contents of the columns and the rows.
-*/
-
-PRIVATE void debug_matrix
-(
-    /* === Parameters ======================================================= */
-
-    int n_row,
-    int n_col,
-    RowInfo Row [],
-    ColInfo Col [],
-    int A []
-)
-{
-    /* === Local variables ================================================== */
-
-    int r ;
-    int c ;
-    int *rp ;
-    int *rp_end ;
-    int *cp ;
-    int *cp_end ;
-
-    /* === Dump the rows and columns of the matrix ========================== */
-
-    if (debug_colamd < 3)
-    {
-	return ;
-    }
-    DEBUG3 (("DUMP MATRIX:\n")) ;
-    for (r = 0 ; r < n_row ; r++)
-    {
-	DEBUG3 (("Row %d alive? %d\n", r, ROW_IS_ALIVE (r))) ;
-	if (ROW_IS_DEAD (r))
-	{
-	    continue ;
-	}
-	DEBUG3 (("start %d length %d degree %d\n",
-		Row [r].start, Row [r].length, Row [r].shared1.degree)) ;
-	rp = &A [Row [r].start] ;
-	rp_end = rp + Row [r].length ;
-	while (rp < rp_end)
-	{
-	    c = *rp++ ;
-	    DEBUG3 (("	%d col %d\n", COL_IS_ALIVE (c), c)) ;
-	}
-    }
-
-    for (c = 0 ; c < n_col ; c++)
-    {
-	DEBUG3 (("Col %d alive? %d\n", c, COL_IS_ALIVE (c))) ;
-	if (COL_IS_DEAD (c))
-	{
-	    continue ;
-	}
-	DEBUG3 (("start %d length %d shared1 %d shared2 %d\n",
-		Col [c].start, Col [c].length,
-		Col [c].shared1.thickness, Col [c].shared2.score)) ;
-	cp = &A [Col [c].start] ;
-	cp_end = cp + Col [c].length ;
-	while (cp < cp_end)
-	{
-	    r = *cp++ ;
-	    DEBUG3 (("	%d row %d\n", ROW_IS_ALIVE (r), r)) ;
-	}
-    }
-}
-
-#endif
-
diff --git a/intern/opennl/superlu/colamd.h b/intern/opennl/superlu/colamd.h
deleted file mode 100644
index 00f670ce01f..00000000000
--- a/intern/opennl/superlu/colamd.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/** \file opennl/superlu/colamd.h
- *  \ingroup opennl
- */
-/* ========================================================================== */
-/* === colamd prototypes and definitions ==================================== */
-/* ========================================================================== */
-
-/*
-    This is the colamd include file,
-
-	http://www.cise.ufl.edu/~davis/colamd/colamd.h
-
-    for use in the colamd.c, colamdmex.c, and symamdmex.c files located at
-
-	http://www.cise.ufl.edu/~davis/colamd/
-
-    See those files for a description of colamd and symamd, and for the
-    copyright notice, which also applies to this file.
-
-    August 3, 1998.  Version 1.0.
-*/
-
-/* ========================================================================== */
-/* === Definitions ========================================================== */
-/* ========================================================================== */
-
-/* size of the knobs [ ] array.  Only knobs [0..1] are currently used. */
-#define COLAMD_KNOBS 20
-
-/* number of output statistics.  Only A [0..2] are currently used. */
-#define COLAMD_STATS 20
-
-/* knobs [0] and A [0]: dense row knob and output statistic. */
-#define COLAMD_DENSE_ROW 0
-
-/* knobs [1] and A [1]: dense column knob and output statistic. */
-#define COLAMD_DENSE_COL 1
-
-/* A [2]: memory defragmentation count output statistic */
-#define COLAMD_DEFRAG_COUNT 2
-
-/* A [3]: whether or not the input columns were jumbled or had duplicates */
-#define COLAMD_JUMBLED_COLS 3
-
-/* ========================================================================== */
-/* === Prototypes of user-callable routines ================================= */
-/* ========================================================================== */
-
-int colamd_recommended		/* returns recommended value of Alen */
-(
-    int nnz,			/* nonzeros in A */
-    int n_row,			/* number of rows in A */
-    int n_col			/* number of columns in A */
-) ;
-
-void colamd_set_defaults	/* sets default parameters */
-(				/* knobs argument is modified on output */
-    double knobs [COLAMD_KNOBS]	/* parameter settings for colamd */
-) ;
-
-int colamd			/* returns TRUE if successful, FALSE otherwise*/
-(				/* A and p arguments are modified on output */
-    int n_row,			/* number of rows in A */
-    int n_col,			/* number of columns in A */
-    int Alen,			/* size of the array A */
-    int A [],			/* row indices of A, of size Alen */
-    int p [],			/* column pointers of A, of size n_col+1 */
-    double knobs [COLAMD_KNOBS]	/* parameter settings for colamd */
-) ;
-
diff --git a/intern/opennl/superlu/get_perm_c.c b/intern/opennl/superlu/get_perm_c.c
index c08d79af81a..2eb0aea678e 100644
--- a/intern/opennl/superlu/get_perm_c.c
+++ b/intern/opennl/superlu/get_perm_c.c
@@ -27,6 +27,7 @@ get_colamd(
 {
     int Alen, *A, i, info, *p;
     double *knobs;
+    int stats[COLAMD_STATS];
 
     Alen = colamd_recommended(nnz, m, n);
 
@@ -40,7 +41,7 @@ get_colamd(
         ABORT("Malloc fails for p[]");
     for (i = 0; i <= n; ++i) p[i] = colptr[i];
     for (i = 0; i < nnz; ++i) A[i] = rowind[i];
-    info = colamd(m, n, Alen, A, p, knobs);
+    info = colamd(m, n, Alen, A, p, knobs, stats);
     if ( info == FALSE ) ABORT("COLAMD failed");
 
     for (i = 0; i < n; ++i) perm_c[p[i]] = i;
diff --git a/intern/opennl/superlu/superlu_sys_types.h b/intern/opennl/superlu/superlu_sys_types.h
index 9bdf3434582..80d3da4d243 100644
--- a/intern/opennl/superlu/superlu_sys_types.h
+++ b/intern/opennl/superlu/superlu_sys_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/smoke/CMakeLists.txt b/intern/smoke/CMakeLists.txt
index 6e1d3eb0ab4..9524f7b2935 100644
--- a/intern/smoke/CMakeLists.txt
+++ b/intern/smoke/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/smoke/extern/smoke_API.h b/intern/smoke/extern/smoke_API.h
index c61183aaf72..9d5dfd98823 100644
--- a/intern/smoke/extern/smoke_API.h
+++ b/intern/smoke/extern/smoke_API.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/smoke/intern/smoke_API.cpp b/intern/smoke/intern/smoke_API.cpp
index 1d038bc7c09..f34051dea76 100644
--- a/intern/smoke/intern/smoke_API.cpp
+++ b/intern/smoke/intern/smoke_API.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/intern/string/CMakeLists.txt b/intern/string/CMakeLists.txt
index 28bd198d29f..ddadfc61bee 100644
--- a/intern/string/CMakeLists.txt
+++ b/intern/string/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/intern/string/STR_HashedString.h b/intern/string/STR_HashedString.h
index 3565e622977..cd3b0e2b58f 100644
--- a/intern/string/STR_HashedString.h
+++ b/intern/string/STR_HashedString.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * This file was formerly known as: GEN_StdString.cpp.
  * @date	November, 14, 2001
diff --git a/intern/string/STR_String.h b/intern/string/STR_String.h
index 2b5ba449602..fa08dc3648e 100644
--- a/intern/string/STR_String.h
+++ b/intern/string/STR_String.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * This file was formerly known as: GEN_StdString.h.
  * @date	April, 25, 2001
diff --git a/intern/string/intern/STR_String.cpp b/intern/string/intern/STR_String.cpp
index ba097ba6046..e711c4e3260 100644
--- a/intern/string/intern/STR_String.cpp
+++ b/intern/string/intern/STR_String.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -33,7 +32,6 @@
 
 /**
 
- * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * This file was formerly known as: GEN_StdString.cpp.
  * @date	April, 25, 2001
diff --git a/po/check_po.py b/po/check_po.py
index a402c2b592c..a2b19d57428 100755
--- a/po/check_po.py
+++ b/po/check_po.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/clean_po.py b/po/clean_po.py
index 685ec585ffd..95bac39b42e 100755
--- a/po/clean_po.py
+++ b/po/clean_po.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/merge_po.py b/po/merge_po.py
index b0b29a3ac8e..dcbe9fc9890 100755
--- a/po/merge_po.py
+++ b/po/merge_po.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/update_mo.py b/po/update_mo.py
index a0173b2d059..50e99c7eeaa 100755
--- a/po/update_mo.py
+++ b/po/update_mo.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/update_msg.py b/po/update_msg.py
index 7cc7ee50b63..21d727922d4 100644
--- a/po/update_msg.py
+++ b/po/update_msg.py
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/update_po.py b/po/update_po.py
index 3dcaa9d8f1b..0aab8c75646 100755
--- a/po/update_po.py
+++ b/po/update_po.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/po/update_pot.py b/po/update_pot.py
index 4e202026444..c5f9acb9f42 100755
--- a/po/update_pot.py
+++ b/po/update_pot.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/release/bin/blender-softwaregl b/release/bin/blender-softwaregl
new file mode 100755
index 00000000000..3cd96d2ff34
--- /dev/null
+++ b/release/bin/blender-softwaregl
@@ -0,0 +1,22 @@
+#!/bin/sh
+BF_DIST_BIN=`dirname "$0"`
+BF_PROGRAM="blender" # BF_PROGRAM=`basename "$0"`-bin
+exitcode=0
+
+LD_LIBRARY_PATH=${BF_DIST_BIN}/lib:${LD_LIBRARY_PATH}
+
+if [ -n "$LD_LIBRARYN32_PATH" ]; then
+    LD_LIBRARYN32_PATH=${BF_DIST_BIN}/lib:${LD_LIBRARYN32_PATH}
+fi
+if [ -n "$LD_LIBRARYN64_PATH" ]; then
+    LD_LIBRARYN64_PATH=${BF_DIST_BIN}/lib:${LD_LIBRARYN64_PATH}
+fi
+if [ -n "$LD_LIBRARY_PATH_64" ]; then
+    LD_LIBRARY_PATH_64=${BF_DIST_BIN}/lib:${LD_LIBRARY_PATH_64}
+fi
+
+export LD_LIBRARY_PATH LD_LIBRARYN32_PATH LD_LIBRARYN64_PATH LD_LIBRARY_PATH_64 LD_PRELOAD
+
+"$BF_DIST_BIN/$BF_PROGRAM" ${1+"$@"}
+exitcode=$?
+exit $exitcode
diff --git a/release/datafiles/LICENSE-bfont.ttf.txt b/release/datafiles/LICENSE-bfont.ttf.txt
index 754089661b0..4aa22365c83 100644
--- a/release/datafiles/LICENSE-bfont.ttf.txt
+++ b/release/datafiles/LICENSE-bfont.ttf.txt
@@ -98,4 +98,3 @@ dealings in this Font Software without prior written authorization
 from Tavmjong Bah. For further information, contact: tavmjong @ free
 . fr.
 
-$Id$
diff --git a/release/plugins/Makefile b/release/plugins/Makefile
index ee7086b331d..353e559e622 100644
--- a/release/plugins/Makefile
+++ b/release/plugins/Makefile
@@ -1,6 +1,3 @@
-#
-# $Id$
-#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/release/plugins/bmake b/release/plugins/bmake
index 9740bfa716a..e2f9e9cc596 100644
--- a/release/plugins/bmake
+++ b/release/plugins/bmake
@@ -1,7 +1,5 @@
 #!/bin/sh
 #
-# $Id$
-#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/release/plugins/sequence/Makefile b/release/plugins/sequence/Makefile
index ab847adf5fe..2b12e62d24a 100644
--- a/release/plugins/sequence/Makefile
+++ b/release/plugins/sequence/Makefile
@@ -1,6 +1,3 @@
-#
-# $Id$
-#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/release/plugins/sequence/blur.c b/release/plugins/sequence/blur.c
index cec3351e976..e95c243b558 100644
--- a/release/plugins/sequence/blur.c
+++ b/release/plugins/sequence/blur.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/release/plugins/sequence/scatter.c b/release/plugins/sequence/scatter.c
index 4741b33ce0e..73e97e165ca 100644
--- a/release/plugins/sequence/scatter.c
+++ b/release/plugins/sequence/scatter.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/release/plugins/texture/Makefile b/release/plugins/texture/Makefile
index ab847adf5fe..2b12e62d24a 100644
--- a/release/plugins/texture/Makefile
+++ b/release/plugins/texture/Makefile
@@ -1,6 +1,3 @@
-#
-# $Id$
-#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/release/plugins/texture/clouds2.c b/release/plugins/texture/clouds2.c
index d38913951c3..454e8e28206 100644
--- a/release/plugins/texture/clouds2.c
+++ b/release/plugins/texture/clouds2.c
@@ -1,5 +1,4 @@
 /**
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/release/plugins/texture/tiles.c b/release/plugins/texture/tiles.c
index 3b533d456b4..c7af6e58fa4 100644
--- a/release/plugins/texture/tiles.c
+++ b/release/plugins/texture/tiles.c
@@ -1,5 +1,4 @@
  /**
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/release/scripts/startup/bl_operators/uvcalc_smart_project.py b/release/scripts/startup/bl_operators/uvcalc_smart_project.py
index 1248fc24ed7..66d0d72efc1 100644
--- a/release/scripts/startup/bl_operators/uvcalc_smart_project.py
+++ b/release/scripts/startup/bl_operators/uvcalc_smart_project.py
@@ -1105,8 +1105,8 @@ from bpy.props import FloatProperty
 
 
 class SmartProject(Operator):
-    '''This script projection unwraps the selected faces of a mesh. ''' \
-    '''it operates on all selected mesh objects, and can be used unwrap selected faces, or all faces'''
+    '''This script projection unwraps the selected faces of a mesh ''' \
+    '''(it operates on all selected mesh objects, and can be used to unwrap selected faces, or all faces)'''
     bl_idname = "uv.smart_project"
     bl_label = "Smart UV Project"
     bl_options = {'REGISTER', 'UNDO'}
diff --git a/release/scripts/startup/bl_operators/vertexpaint_dirt.py b/release/scripts/startup/bl_operators/vertexpaint_dirt.py
index 5fb5c7f39cf..ea58864f7c2 100644
--- a/release/scripts/startup/bl_operators/vertexpaint_dirt.py
+++ b/release/scripts/startup/bl_operators/vertexpaint_dirt.py
@@ -159,7 +159,7 @@ class VertexPaintDirt(Operator):
             )
     blur_iterations = IntProperty(
             name="Blur Iterations",
-            description="Number times to blur the colors (higher blurs more)",
+            description="Number of times to blur the colors (higher blurs more)",
             min=0, max=40,
             default=1,
             )
diff --git a/release/scripts/startup/bl_operators/wm.py b/release/scripts/startup/bl_operators/wm.py
index a539e2693c1..1e469275e77 100644
--- a/release/scripts/startup/bl_operators/wm.py
+++ b/release/scripts/startup/bl_operators/wm.py
@@ -1179,7 +1179,31 @@ class WM_OT_copy_prev_settings(Operator):
 
         return {'CANCELLED'}
 
+class WM_OT_blenderplayer_start(Operator):
+    '''Launches the Blenderplayer with the current blendfile'''
+    bl_idname = "wm.blenderplayer_start"
+    bl_label = "Start"
+    
+    import os
+    blender_bin_path = bpy.app.binary_path
+    blender_bin_dir = os.path.dirname(blender_bin_path)
+    ext = os.path.splitext(blender_bin_path)[-1]
+    player_path = os.path.join(blender_bin_dir, 'blenderplayer' + ext)
+    
+    def execute(self, context):
+        import sys
+        import subprocess
+        import os
+
+        if sys.platform == 'darwin':
+            self.player_path = os.path.join(self.blender_bin_dir, '../../../blenderplayer.app/Contents/MacOS/blenderplayer')
+	
+        filepath = bpy.app.tempdir + "game.blend"
+        bpy.ops.wm.save_as_mainfile(filepath=filepath, check_existing=False, copy=True)
+        subprocess.call([self.player_path, filepath])
+        return {'FINISHED'}
 
+        
 class WM_OT_keyconfig_test(Operator):
     "Test keyconfig for conflicts"
     bl_idname = "wm.keyconfig_test"
@@ -1451,7 +1475,7 @@ class WM_OT_operator_cheat_sheet(Operator):
 class WM_OT_addon_enable(Operator):
     "Enable an addon"
     bl_idname = "wm.addon_enable"
-    bl_label = "Enable Add-On"
+    bl_label = "Enable Addon"
 
     module = StringProperty(
             name="Module",
@@ -1482,7 +1506,7 @@ class WM_OT_addon_enable(Operator):
 class WM_OT_addon_disable(Operator):
     "Disable an addon"
     bl_idname = "wm.addon_disable"
-    bl_label = "Disable Add-On"
+    bl_label = "Disable Addon"
 
     module = StringProperty(
             name="Module",
@@ -1499,7 +1523,7 @@ class WM_OT_addon_disable(Operator):
 class WM_OT_addon_install(Operator):
     "Install an addon"
     bl_idname = "wm.addon_install"
-    bl_label = "Install Add-On..."
+    bl_label = "Install Addon..."
 
     overwrite = BoolProperty(
             name="Overwrite",
@@ -1667,7 +1691,7 @@ class WM_OT_addon_install(Operator):
 class WM_OT_addon_remove(Operator):
     "Disable an addon"
     bl_idname = "wm.addon_remove"
-    bl_label = "Remove Add-On"
+    bl_label = "Remove Addon"
 
     module = StringProperty(
             name="Module",
@@ -1722,7 +1746,7 @@ class WM_OT_addon_remove(Operator):
 
 
 class WM_OT_addon_expand(Operator):
-    "Display more information on this add-on"
+    "Display more information on this addon"
     bl_idname = "wm.addon_expand"
     bl_label = ""
 
diff --git a/release/scripts/startup/bl_ui/__init__.py b/release/scripts/startup/bl_ui/__init__.py
index 2e54631afa3..682341cbf2f 100644
--- a/release/scripts/startup/bl_ui/__init__.py
+++ b/release/scripts/startup/bl_ui/__init__.py
@@ -110,7 +110,7 @@ def register():
     WindowManager.addon_filter = EnumProperty(
             items=addon_filter_items,
             name="Category",
-            description="Filter add-ons by category",
+            description="Filter addons by category",
             )
 
     WindowManager.addon_support = EnumProperty(
diff --git a/release/scripts/startup/bl_ui/properties_particle.py b/release/scripts/startup/bl_ui/properties_particle.py
index 0e7fccae8df..2216d2b2170 100644
--- a/release/scripts/startup/bl_ui/properties_particle.py
+++ b/release/scripts/startup/bl_ui/properties_particle.py
@@ -76,15 +76,21 @@ class ParticleButtonsPanel():
 class PARTICLE_PT_context_particles(ParticleButtonsPanel, Panel):
     bl_label = ""
     bl_options = {'HIDE_HEADER'}
-    COMPAT_ENGINES = {'BLENDER_RENDER'}
+    # COMPAT_ENGINES = {'BLENDER_RENDER'}
 
     @classmethod
     def poll(cls, context):
         engine = context.scene.render.engine
-        return (context.particle_system or context.object or context.space_data.pin_id) and (engine in cls.COMPAT_ENGINES)
+        return (context.particle_system or context.object or context.space_data.pin_id)# and (engine in cls.COMPAT_ENGINES)
 
     def draw(self, context):
         layout = self.layout
+        
+        if context.scene.render.engine == "BLENDER_GAME":
+            layout.label("The Blender particle system is")
+            layout.label("not available for use in the")
+            layout.label("Blender Game Engine")
+            return
 
         ob = context.object
         psys = context.particle_system
@@ -145,7 +151,7 @@ class PARTICLE_PT_context_particles(ParticleButtonsPanel, Panel):
             #row.label(text="Render")
 
             if part.is_fluid:
-                layout.label(text=str(part.count) + " fluid particles for this frame")
+                layout.label(text="{} fluid particles for this frame".format(str(part.count)))
                 return
 
             row = col.row()
@@ -504,7 +510,7 @@ class PARTICLE_PT_physics(ParticleButtonsPanel, Panel):
                 col.label(text="Fluid properties:")
                 col.prop(fluid, "stiffness", text="Stiffness")
                 col.prop(fluid, "linear_viscosity", text="Viscosity")
-                col.prop(fluid, "buoyancy", text="Buoancy", slider=True)
+                col.prop(fluid, "buoyancy", text="Buoyancy", slider=True)
 
                 col = split.column()
                 col.label(text="Advanced:")
@@ -1162,7 +1168,7 @@ class PARTICLE_PT_force_fields(ParticleButtonsPanel, Panel):
 
 
 class PARTICLE_PT_vertexgroups(ParticleButtonsPanel, Panel):
-    bl_label = "Vertexgroups"
+    bl_label = "Vertex Groups"
     bl_options = {'DEFAULT_CLOSED'}
     COMPAT_ENGINES = {'BLENDER_RENDER'}
 
diff --git a/release/scripts/startup/bl_ui/properties_physics_fluid.py b/release/scripts/startup/bl_ui/properties_physics_fluid.py
index c25b42e298e..efb760c0b43 100644
--- a/release/scripts/startup/bl_ui/properties_physics_fluid.py
+++ b/release/scripts/startup/bl_ui/properties_physics_fluid.py
@@ -206,7 +206,7 @@ class PHYSICS_PT_domain_gravity(PhysicButtonsPanel, Panel):
 
         col = split.column()
         if scene.use_gravity:
-            col.label(text="Using Scene Gravity", icon="SCENE_DATA")
+            col.label(text="Use Scene Gravity", icon="SCENE_DATA")
             sub = col.column()
             sub.enabled = False
             sub.prop(fluid, "gravity", text="")
@@ -215,7 +215,7 @@ class PHYSICS_PT_domain_gravity(PhysicButtonsPanel, Panel):
             col.prop(fluid, "gravity", text="")
 
         if scene.unit_settings.system != 'NONE':
-            col.label(text="Using Scene Size Units", icon="SCENE_DATA")
+            col.label(text="Use Scene Size Units", icon="SCENE_DATA")
             sub = col.column()
             sub.enabled = False
             sub.prop(fluid, "simulation_scale", text="Metres")
diff --git a/release/scripts/startup/bl_ui/space_userpref.py b/release/scripts/startup/bl_ui/space_userpref.py
index 96a08e57157..c6c4a8f3335 100644
--- a/release/scripts/startup/bl_ui/space_userpref.py
+++ b/release/scripts/startup/bl_ui/space_userpref.py
@@ -762,7 +762,7 @@ class USERPREF_MT_ndof_settings(Menu):
             layout.prop(input_prefs, "ndof_show_guide")
 
             layout.separator()
-            layout.label(text="orbit options")
+            layout.label(text="Orbit options")
             if input_prefs.view_rotate_method == 'TRACKBALL':
                 layout.prop(input_prefs, "ndof_roll_invert_axis")
                 layout.prop(input_prefs, "ndof_tilt_invert_axis")
@@ -771,13 +771,13 @@ class USERPREF_MT_ndof_settings(Menu):
                 layout.prop(input_prefs, "ndof_orbit_invert_axes")
 
             layout.separator()
-            layout.label(text="pan options")
+            layout.label(text="Pan options")
             layout.prop(input_prefs, "ndof_panx_invert_axis")
             layout.prop(input_prefs, "ndof_pany_invert_axis")
             layout.prop(input_prefs, "ndof_panz_invert_axis")
 
             layout.separator()
-            layout.label(text="fly options")
+            layout.label(text="Fly options")
             layout.prop(input_prefs, "ndof_fly_helicopter", icon='NDOF_FLY')
             layout.prop(input_prefs, "ndof_lock_horizon", icon='NDOF_DOM')
 
@@ -966,7 +966,7 @@ class USERPREF_PT_addons(Panel):
             if info["support"] not in support:
                 continue
 
-            # check if add-on should be visible with current filters
+            # check if addon should be visible with current filters
             if (filter == "All") or \
                     (filter == info["category"]) or \
                     (filter == "Enabled" and is_enabled) or \
diff --git a/release/text/readme.html b/release/text/readme.html
index e0bef8a50e1..8c5ead49036 100644
--- a/release/text/readme.html
+++ b/release/text/readme.html
@@ -36,7 +36,7 @@
 <p class="body"><b>Linux, FreeBSD, Solaris: </b>Unpack the archive, Then run the Blender executable.</p>
 <p class="body"><b>Mac OS X: </b>The downloaded package includes blender.app. Optionally copy this to your Applications folder, and add it to the dock by dragging it from there to the dock.</p>
 <p></p>
-<p class="body"><b>Installing Add-ons (all systems)</b> Add-ons can be installed from the user preferences addons section, download an addon as a .py or .zip file, then press the "Install Add-on" button and select the file to install it.</p>
+<p class="body"><b>Installing Addons (all systems)</b> Addons can be installed from the user preferences addons section, download an addon as a .py or .zip file, then press the "Install Addon" button and select the file to install it.</p>
 <p><br></p>
 <p class="header"><b>Getting Started</b></p>
 <p class="body">When opening Blender, you’ll see large 3D view in the center, a Toolbar on the left, a Properties area and an Outliner area on the right and a Timeline at the bottom.</p>
diff --git a/release/windows/installer/00.sconsblender.nsi b/release/windows/installer/00.sconsblender.nsi
index eddd215c64d..eb9b6629108 100644
--- a/release/windows/installer/00.sconsblender.nsi
+++ b/release/windows/installer/00.sconsblender.nsi
@@ -1,5 +1,4 @@
 ;
-; $Id$
 ;
 ; Blender Self-Installer for Windows (NSIS - http://nsis.sourceforge.net)
 ;
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index 5d0354ccd72..529aaac4923 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/CMakeLists.txt b/source/blender/CMakeLists.txt
index b332cd35402..934579b8a8a 100644
--- a/source/blender/CMakeLists.txt
+++ b/source/blender/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/AVI_avi.h b/source/blender/avi/AVI_avi.h
index 97dc12f57d8..ea073f79a7e 100644
--- a/source/blender/avi/AVI_avi.h
+++ b/source/blender/avi/AVI_avi.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/CMakeLists.txt b/source/blender/avi/CMakeLists.txt
index 0fd6435ec4e..79422dff917 100644
--- a/source/blender/avi/CMakeLists.txt
+++ b/source/blender/avi/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/intern/avi.c b/source/blender/avi/intern/avi.c
index 8ad751a5b40..6e8828ebce4 100644
--- a/source/blender/avi/intern/avi.c
+++ b/source/blender/avi/intern/avi.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code.
  *
diff --git a/source/blender/avi/intern/avi_intern.h b/source/blender/avi/intern/avi_intern.h
index ecf4c5a529a..15307956756 100644
--- a/source/blender/avi/intern/avi_intern.h
+++ b/source/blender/avi/intern/avi_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/intern/avirgb.c b/source/blender/avi/intern/avirgb.c
index c7d47b9da0d..42a094b1e1c 100644
--- a/source/blender/avi/intern/avirgb.c
+++ b/source/blender/avi/intern/avirgb.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Converts rgb-type avi-s.
  *
diff --git a/source/blender/avi/intern/avirgb.h b/source/blender/avi/intern/avirgb.h
index 88338b55106..20211d6ab2d 100644
--- a/source/blender/avi/intern/avirgb.h
+++ b/source/blender/avi/intern/avirgb.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/intern/codecs.c b/source/blender/avi/intern/codecs.c
index 9d3da333957..78d8d4a32b2 100644
--- a/source/blender/avi/intern/codecs.c
+++ b/source/blender/avi/intern/codecs.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Identify and convert different avi-files.
  *
diff --git a/source/blender/avi/intern/endian.c b/source/blender/avi/intern/endian.c
index 50ec2330beb..194880605b6 100644
--- a/source/blender/avi/intern/endian.c
+++ b/source/blender/avi/intern/endian.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Streams bytes to output depending on the
  * endianness of the system.
diff --git a/source/blender/avi/intern/endian.h b/source/blender/avi/intern/endian.h
index 6516df74116..7a443fae8df 100644
--- a/source/blender/avi/intern/endian.h
+++ b/source/blender/avi/intern/endian.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code.
  *
diff --git a/source/blender/avi/intern/mjpeg.c b/source/blender/avi/intern/mjpeg.c
index 80057ff4216..e55549bd05e 100644
--- a/source/blender/avi/intern/mjpeg.c
+++ b/source/blender/avi/intern/mjpeg.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Converts between avi and mpeg/jpeg.
  *
diff --git a/source/blender/avi/intern/mjpeg.h b/source/blender/avi/intern/mjpeg.h
index ce10388a466..75649891f2b 100644
--- a/source/blender/avi/intern/mjpeg.h
+++ b/source/blender/avi/intern/mjpeg.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/avi/intern/options.c b/source/blender/avi/intern/options.c
index 8993c1ef96a..bda153d0cd3 100644
--- a/source/blender/avi/intern/options.c
+++ b/source/blender/avi/intern/options.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Sets some compression related options
  * (width, height quality, framerate).
diff --git a/source/blender/avi/intern/rgb32.c b/source/blender/avi/intern/rgb32.c
index ba4bf2d524b..4d088377c9e 100644
--- a/source/blender/avi/intern/rgb32.c
+++ b/source/blender/avi/intern/rgb32.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * This is external code. Converts between rgb32 and avi.
  *
diff --git a/source/blender/avi/intern/rgb32.h b/source/blender/avi/intern/rgb32.h
index 70fe33c9138..55f9771a4df 100644
--- a/source/blender/avi/intern/rgb32.h
+++ b/source/blender/avi/intern/rgb32.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/BLF_api.h b/source/blender/blenfont/BLF_api.h
index 038f0c433c7..7490502c605 100644
--- a/source/blender/blenfont/BLF_api.h
+++ b/source/blender/blenfont/BLF_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/BLF_translation.h b/source/blender/blenfont/BLF_translation.h
index 707cd17e0b3..0d33180a817 100644
--- a/source/blender/blenfont/BLF_translation.h
+++ b/source/blender/blenfont/BLF_translation.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf.c b/source/blender/blenfont/intern/blf.c
index ec0605236dd..9b26e7a54be 100644
--- a/source/blender/blenfont/intern/blf.c
+++ b/source/blender/blenfont/intern/blf.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_dir.c b/source/blender/blenfont/intern/blf_dir.c
index 3fe66118cda..4da67f59ff7 100644
--- a/source/blender/blenfont/intern/blf_dir.c
+++ b/source/blender/blenfont/intern/blf_dir.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_font.c b/source/blender/blenfont/intern/blf_font.c
index 355182fb85f..bebc87cc5d4 100644
--- a/source/blender/blenfont/intern/blf_font.c
+++ b/source/blender/blenfont/intern/blf_font.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_glyph.c b/source/blender/blenfont/intern/blf_glyph.c
index 99d41cd7abd..f0cfcdc97b9 100644
--- a/source/blender/blenfont/intern/blf_glyph.c
+++ b/source/blender/blenfont/intern/blf_glyph.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_internal.h b/source/blender/blenfont/intern/blf_internal.h
index df88d0c8fea..20124666bcc 100644
--- a/source/blender/blenfont/intern/blf_internal.h
+++ b/source/blender/blenfont/intern/blf_internal.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_internal_types.h b/source/blender/blenfont/intern/blf_internal_types.h
index 1450ad39ad8..e8021aad6d1 100644
--- a/source/blender/blenfont/intern/blf_internal_types.h
+++ b/source/blender/blenfont/intern/blf_internal_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_lang.c b/source/blender/blenfont/intern/blf_lang.c
index 87fbbc7b3e5..9548febab27 100644
--- a/source/blender/blenfont/intern/blf_lang.c
+++ b/source/blender/blenfont/intern/blf_lang.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -96,6 +94,7 @@ static const char *locales[] = {
 	"korean", "ko_KR",
 	"nepali", "ne_NP",
 	"persian", "fa_PE",
+	"indonesian", "id_ID"
 };
 
 void BLF_lang_init(void)
diff --git a/source/blender/blenfont/intern/blf_translation.c b/source/blender/blenfont/intern/blf_translation.c
index 17290c66544..917d95cfc20 100644
--- a/source/blender/blenfont/intern/blf_translation.c
+++ b/source/blender/blenfont/intern/blf_translation.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenfont/intern/blf_util.c b/source/blender/blenfont/intern/blf_util.c
index d51f9b8af6b..45e01e58312 100644
--- a/source/blender/blenfont/intern/blf_util.c
+++ b/source/blender/blenfont/intern/blf_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_DerivedMesh.h b/source/blender/blenkernel/BKE_DerivedMesh.h
index 2c3ffc296ba..5e403849289 100644
--- a/source/blender/blenkernel/BKE_DerivedMesh.h
+++ b/source/blender/blenkernel/BKE_DerivedMesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_action.h b/source/blender/blenkernel/BKE_action.h
index 7d3de68c005..67efb7752ea 100644
--- a/source/blender/blenkernel/BKE_action.h
+++ b/source/blender/blenkernel/BKE_action.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_anim.h b/source/blender/blenkernel/BKE_anim.h
index da389c6f1d0..44aebdf6205 100644
--- a/source/blender/blenkernel/BKE_anim.h
+++ b/source/blender/blenkernel/BKE_anim.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_animsys.h b/source/blender/blenkernel/BKE_animsys.h
index cf49c479fe3..cba6b0ef257 100644
--- a/source/blender/blenkernel/BKE_animsys.h
+++ b/source/blender/blenkernel/BKE_animsys.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_armature.h b/source/blender/blenkernel/BKE_armature.h
index a0660490baf..8836999bc9b 100644
--- a/source/blender/blenkernel/BKE_armature.h
+++ b/source/blender/blenkernel/BKE_armature.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_array_mallocn.h b/source/blender/blenkernel/BKE_array_mallocn.h
index 42c4c2ebdd0..45ca4a5e694 100644
--- a/source/blender/blenkernel/BKE_array_mallocn.h
+++ b/source/blender/blenkernel/BKE_array_mallocn.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #ifndef BKE_ARRAY_MALLOCN_H
 #define BKE_ARRAY_MALLOCN_H
diff --git a/source/blender/blenkernel/BKE_blender.h b/source/blender/blenkernel/BKE_blender.h
index f5684810e14..71771b6077d 100644
--- a/source/blender/blenkernel/BKE_blender.h
+++ b/source/blender/blenkernel/BKE_blender.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bmesh.h b/source/blender/blenkernel/BKE_bmesh.h
index 5c28fa88503..9739a5eacf2 100644
--- a/source/blender/blenkernel/BKE_bmesh.h
+++ b/source/blender/blenkernel/BKE_bmesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bmeshCustomData.h b/source/blender/blenkernel/BKE_bmeshCustomData.h
index aabfcfaa0f6..2c6449eb290 100644
--- a/source/blender/blenkernel/BKE_bmeshCustomData.h
+++ b/source/blender/blenkernel/BKE_bmeshCustomData.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bmfont.h b/source/blender/blenkernel/BKE_bmfont.h
index ef7323fc4c3..5f23121b802 100644
--- a/source/blender/blenkernel/BKE_bmfont.h
+++ b/source/blender/blenkernel/BKE_bmfont.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bmfont_types.h b/source/blender/blenkernel/BKE_bmfont_types.h
index 658302e9f1d..a4d37069cab 100644
--- a/source/blender/blenkernel/BKE_bmfont_types.h
+++ b/source/blender/blenkernel/BKE_bmfont_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_boids.h b/source/blender/blenkernel/BKE_boids.h
index 36ca0cde87d..18e8be1512e 100644
--- a/source/blender/blenkernel/BKE_boids.h
+++ b/source/blender/blenkernel/BKE_boids.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_booleanops_mesh.h b/source/blender/blenkernel/BKE_booleanops_mesh.h
index aecd3385662..7c989ea17e6 100644
--- a/source/blender/blenkernel/BKE_booleanops_mesh.h
+++ b/source/blender/blenkernel/BKE_booleanops_mesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_brush.h b/source/blender/blenkernel/BKE_brush.h
index ebb9714cd1b..32418384795 100644
--- a/source/blender/blenkernel/BKE_brush.h
+++ b/source/blender/blenkernel/BKE_brush.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bullet.h b/source/blender/blenkernel/BKE_bullet.h
index 2756ded3a08..5eb653f69d1 100644
--- a/source/blender/blenkernel/BKE_bullet.h
+++ b/source/blender/blenkernel/BKE_bullet.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_bvhutils.h b/source/blender/blenkernel/BKE_bvhutils.h
index b497698f660..c3f5ae7fbf0 100644
--- a/source/blender/blenkernel/BKE_bvhutils.h
+++ b/source/blender/blenkernel/BKE_bvhutils.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_cdderivedmesh.h b/source/blender/blenkernel/BKE_cdderivedmesh.h
index 07158f5f3fa..c71c86e110d 100644
--- a/source/blender/blenkernel/BKE_cdderivedmesh.h
+++ b/source/blender/blenkernel/BKE_cdderivedmesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_cloth.h b/source/blender/blenkernel/BKE_cloth.h
index a5c88000db2..2dfe9fd3402 100644
--- a/source/blender/blenkernel/BKE_cloth.h
+++ b/source/blender/blenkernel/BKE_cloth.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_collision.h b/source/blender/blenkernel/BKE_collision.h
index 4048ee2f457..acb3ae03816 100644
--- a/source/blender/blenkernel/BKE_collision.h
+++ b/source/blender/blenkernel/BKE_collision.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_colortools.h b/source/blender/blenkernel/BKE_colortools.h
index 758789683d5..fd3a3fea2bb 100644
--- a/source/blender/blenkernel/BKE_colortools.h
+++ b/source/blender/blenkernel/BKE_colortools.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_context.h b/source/blender/blenkernel/BKE_context.h
index 7254536b555..3f9edf41e3c 100644
--- a/source/blender/blenkernel/BKE_context.h
+++ b/source/blender/blenkernel/BKE_context.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_curve.h b/source/blender/blenkernel/BKE_curve.h
index 02fc70e41e8..9282f0ef29a 100644
--- a/source/blender/blenkernel/BKE_curve.h
+++ b/source/blender/blenkernel/BKE_curve.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_customdata.h b/source/blender/blenkernel/BKE_customdata.h
index 4eb8e5a8d96..f3922f43cbc 100644
--- a/source/blender/blenkernel/BKE_customdata.h
+++ b/source/blender/blenkernel/BKE_customdata.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_customdata_file.h b/source/blender/blenkernel/BKE_customdata_file.h
index 030d46fc1a6..f32a4b1e6a8 100644
--- a/source/blender/blenkernel/BKE_customdata_file.h
+++ b/source/blender/blenkernel/BKE_customdata_file.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_deform.h b/source/blender/blenkernel/BKE_deform.h
index 64cea929573..15d3c86c315 100644
--- a/source/blender/blenkernel/BKE_deform.h
+++ b/source/blender/blenkernel/BKE_deform.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_depsgraph.h b/source/blender/blenkernel/BKE_depsgraph.h
index f36073ba841..59b7712a5a4 100644
--- a/source/blender/blenkernel/BKE_depsgraph.h
+++ b/source/blender/blenkernel/BKE_depsgraph.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_displist.h b/source/blender/blenkernel/BKE_displist.h
index 1eed0aaca00..2d863201767 100644
--- a/source/blender/blenkernel/BKE_displist.h
+++ b/source/blender/blenkernel/BKE_displist.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/BKE_effect.h b/source/blender/blenkernel/BKE_effect.h
index 12f9383cefb..59a361c010d 100644
--- a/source/blender/blenkernel/BKE_effect.h
+++ b/source/blender/blenkernel/BKE_effect.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_fcurve.h b/source/blender/blenkernel/BKE_fcurve.h
index 08798a6ddf0..27e9140ba77 100644
--- a/source/blender/blenkernel/BKE_fcurve.h
+++ b/source/blender/blenkernel/BKE_fcurve.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -215,10 +213,12 @@ struct FCurve *rna_get_fcurve(struct PointerRNA *ptr, struct PropertyRNA *prop,
 int binarysearch_bezt_index(struct BezTriple array[], float frame, int arraylen, short *replace);
 
 /* get the time extents for F-Curve */
-void calc_fcurve_range(struct FCurve *fcu, float *min, float *max, const short selOnly);
+void calc_fcurve_range(struct FCurve *fcu, float *min, float *max,
+                       const short do_sel_only, const short do_min_length);
 
 /* get the bounding-box extents for F-Curve */
-void calc_fcurve_bounds(struct FCurve *fcu, float *xmin, float *xmax, float *ymin, float *ymax, const short selOnly);
+void calc_fcurve_bounds(struct FCurve *fcu, float *xmin, float *xmax, float *ymin, float *ymax,
+                        const short do_sel_only);
 
 /* .............. */
 
diff --git a/source/blender/blenkernel/BKE_fluidsim.h b/source/blender/blenkernel/BKE_fluidsim.h
index f6070cd81f0..a68009dda37 100644
--- a/source/blender/blenkernel/BKE_fluidsim.h
+++ b/source/blender/blenkernel/BKE_fluidsim.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_font.h b/source/blender/blenkernel/BKE_font.h
index 214ae03b453..e164294b9a2 100644
--- a/source/blender/blenkernel/BKE_font.h
+++ b/source/blender/blenkernel/BKE_font.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_global.h b/source/blender/blenkernel/BKE_global.h
index a59d43d315d..bc9134b40b8 100644
--- a/source/blender/blenkernel/BKE_global.h
+++ b/source/blender/blenkernel/BKE_global.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_gpencil.h b/source/blender/blenkernel/BKE_gpencil.h
index 4898bb28c8d..dbb1107c228 100644
--- a/source/blender/blenkernel/BKE_gpencil.h
+++ b/source/blender/blenkernel/BKE_gpencil.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_group.h b/source/blender/blenkernel/BKE_group.h
index e497f43e46d..554314c419a 100644
--- a/source/blender/blenkernel/BKE_group.h
+++ b/source/blender/blenkernel/BKE_group.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_icons.h b/source/blender/blenkernel/BKE_icons.h
index 9f7d4aeb0d3..ee18a41dbfe 100644
--- a/source/blender/blenkernel/BKE_icons.h
+++ b/source/blender/blenkernel/BKE_icons.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_idcode.h b/source/blender/blenkernel/BKE_idcode.h
index e46ad450c31..57855a7082f 100644
--- a/source/blender/blenkernel/BKE_idcode.h
+++ b/source/blender/blenkernel/BKE_idcode.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_idprop.h b/source/blender/blenkernel/BKE_idprop.h
index 2ba23d4a944..10c02f54b2e 100644
--- a/source/blender/blenkernel/BKE_idprop.h
+++ b/source/blender/blenkernel/BKE_idprop.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_image.h b/source/blender/blenkernel/BKE_image.h
index 8181ad6421c..c7e269a3b75 100644
--- a/source/blender/blenkernel/BKE_image.h
+++ b/source/blender/blenkernel/BKE_image.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -63,7 +61,9 @@ int		BKE_imtype_is_movie(int imtype);
 struct anim *openanim(char * name, int flags, int streamindex);
 
 void	image_de_interlace(struct Image *ima, int odd);
-	
+
+void	make_local_image(struct Image *ima);
+
 void	tag_image_time(struct Image *ima);
 void	free_old_images(void);
 
diff --git a/source/blender/blenkernel/BKE_ipo.h b/source/blender/blenkernel/BKE_ipo.h
index ea98c226e67..d21b0597976 100644
--- a/source/blender/blenkernel/BKE_ipo.h
+++ b/source/blender/blenkernel/BKE_ipo.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_key.h b/source/blender/blenkernel/BKE_key.h
index c29320ef13c..c055bb2004b 100644
--- a/source/blender/blenkernel/BKE_key.h
+++ b/source/blender/blenkernel/BKE_key.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_lattice.h b/source/blender/blenkernel/BKE_lattice.h
index 2936338e760..57c05637d50 100644
--- a/source/blender/blenkernel/BKE_lattice.h
+++ b/source/blender/blenkernel/BKE_lattice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_library.h b/source/blender/blenkernel/BKE_library.h
index 0d6d41109b4..77ce7a50956 100644
--- a/source/blender/blenkernel/BKE_library.h
+++ b/source/blender/blenkernel/BKE_library.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -52,6 +50,7 @@ void *copy_libblock(void *rt);
 void copy_libblock_data(struct ID *id, const struct ID *id_from, const short do_action);
 
 void id_lib_extern(struct ID *id);
+void BKE_library_filepath_set(struct Library *lib, const char *filepath);
 void id_us_plus(struct ID *id);
 void id_us_min(struct ID *id);
 int id_make_local(struct ID *id, int test);
@@ -60,6 +59,7 @@ int id_copy(struct ID *id, struct ID **newid, int test);
 int id_unlink(struct ID *id, int test);
 
 int new_id(struct ListBase *lb, struct ID *id, const char *name);
+void id_clear_lib_data(struct ListBase *lb, struct ID *id);
 
 struct ListBase *which_libbase(struct Main *mainlib, short type);
 
diff --git a/source/blender/blenkernel/BKE_main.h b/source/blender/blenkernel/BKE_main.h
index c25882d1dd6..2f587d3b29c 100644
--- a/source/blender/blenkernel/BKE_main.h
+++ b/source/blender/blenkernel/BKE_main.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_material.h b/source/blender/blenkernel/BKE_material.h
index 0e0348e78e9..8e7645d721e 100644
--- a/source/blender/blenkernel/BKE_material.h
+++ b/source/blender/blenkernel/BKE_material.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_mball.h b/source/blender/blenkernel/BKE_mball.h
index c4119e99780..3dde54fd811 100644
--- a/source/blender/blenkernel/BKE_mball.h
+++ b/source/blender/blenkernel/BKE_mball.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_mesh.h b/source/blender/blenkernel/BKE_mesh.h
index 347263bb290..07c6fb8b09c 100644
--- a/source/blender/blenkernel/BKE_mesh.h
+++ b/source/blender/blenkernel/BKE_mesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_modifier.h b/source/blender/blenkernel/BKE_modifier.h
index 28950e4b2eb..a47cefe6f65 100644
--- a/source/blender/blenkernel/BKE_modifier.h
+++ b/source/blender/blenkernel/BKE_modifier.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_multires.h b/source/blender/blenkernel/BKE_multires.h
index ba23b2d79c0..4f1262cd523 100644
--- a/source/blender/blenkernel/BKE_multires.h
+++ b/source/blender/blenkernel/BKE_multires.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_navmesh_conversion.h b/source/blender/blenkernel/BKE_navmesh_conversion.h
index 1880e1e6728..ab5c2b19707 100644
--- a/source/blender/blenkernel/BKE_navmesh_conversion.h
+++ b/source/blender/blenkernel/BKE_navmesh_conversion.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_nla.h b/source/blender/blenkernel/BKE_nla.h
index 49c1f8acd24..773c5ced1cb 100644
--- a/source/blender/blenkernel/BKE_nla.h
+++ b/source/blender/blenkernel/BKE_nla.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_node.h b/source/blender/blenkernel/BKE_node.h
index b75a8cb29ec..a819a464d3f 100644
--- a/source/blender/blenkernel/BKE_node.h
+++ b/source/blender/blenkernel/BKE_node.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_object.h b/source/blender/blenkernel/BKE_object.h
index b1943fdf97c..393568c6b60 100644
--- a/source/blender/blenkernel/BKE_object.h
+++ b/source/blender/blenkernel/BKE_object.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_packedFile.h b/source/blender/blenkernel/BKE_packedFile.h
index f1c7356e6b0..606d6167937 100644
--- a/source/blender/blenkernel/BKE_packedFile.h
+++ b/source/blender/blenkernel/BKE_packedFile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_paint.h b/source/blender/blenkernel/BKE_paint.h
index 89733f1623c..e14db31607a 100644
--- a/source/blender/blenkernel/BKE_paint.h
+++ b/source/blender/blenkernel/BKE_paint.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_particle.h b/source/blender/blenkernel/BKE_particle.h
index c417b1efe4f..c4284d2cf0a 100644
--- a/source/blender/blenkernel/BKE_particle.h
+++ b/source/blender/blenkernel/BKE_particle.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_plugin_types.h b/source/blender/blenkernel/BKE_plugin_types.h
index a7842b526ce..73c6dae35cf 100644
--- a/source/blender/blenkernel/BKE_plugin_types.h
+++ b/source/blender/blenkernel/BKE_plugin_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_pointcache.h b/source/blender/blenkernel/BKE_pointcache.h
index fcfa6ccf9f4..110e6e851c8 100644
--- a/source/blender/blenkernel/BKE_pointcache.h
+++ b/source/blender/blenkernel/BKE_pointcache.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_property.h b/source/blender/blenkernel/BKE_property.h
index 10014a4611d..ce0ea3dcc9a 100644
--- a/source/blender/blenkernel/BKE_property.h
+++ b/source/blender/blenkernel/BKE_property.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_report.h b/source/blender/blenkernel/BKE_report.h
index 253f3ea9ac1..784f8a63757 100644
--- a/source/blender/blenkernel/BKE_report.h
+++ b/source/blender/blenkernel/BKE_report.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_sca.h b/source/blender/blenkernel/BKE_sca.h
index 0db0b71c102..cfcc0e146d8 100644
--- a/source/blender/blenkernel/BKE_sca.h
+++ b/source/blender/blenkernel/BKE_sca.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_scene.h b/source/blender/blenkernel/BKE_scene.h
index 943712167c6..5c214b2892a 100644
--- a/source/blender/blenkernel/BKE_scene.h
+++ b/source/blender/blenkernel/BKE_scene.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_screen.h b/source/blender/blenkernel/BKE_screen.h
index bc443b4a3a6..5b6d7e3cd96 100644
--- a/source/blender/blenkernel/BKE_screen.h
+++ b/source/blender/blenkernel/BKE_screen.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_script.h b/source/blender/blenkernel/BKE_script.h
index 304e46fe2c5..d8ceaf23652 100644
--- a/source/blender/blenkernel/BKE_script.h
+++ b/source/blender/blenkernel/BKE_script.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_sequencer.h b/source/blender/blenkernel/BKE_sequencer.h
index 9cb4dfae534..e64de965db5 100644
--- a/source/blender/blenkernel/BKE_sequencer.h
+++ b/source/blender/blenkernel/BKE_sequencer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -217,9 +215,7 @@ typedef enum {
 	SEQ_STRIPELEM_IBUF_ENDSTILL
 } seq_stripelem_ibuf_t;
 
-void seq_stripelem_cache_init(void);
 void seq_stripelem_cache_destruct(void);
-
 void seq_stripelem_cache_cleanup(void);
 
 /* returned ImBuf is properly refed and has to be freed */
diff --git a/source/blender/blenkernel/BKE_shrinkwrap.h b/source/blender/blenkernel/BKE_shrinkwrap.h
index 9deb71a3474..d1fef8b0ce1 100644
--- a/source/blender/blenkernel/BKE_shrinkwrap.h
+++ b/source/blender/blenkernel/BKE_shrinkwrap.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_sketch.h b/source/blender/blenkernel/BKE_sketch.h
index 087cabc5c3d..1dd82c1d8e6 100644
--- a/source/blender/blenkernel/BKE_sketch.h
+++ b/source/blender/blenkernel/BKE_sketch.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_smoke.h b/source/blender/blenkernel/BKE_smoke.h
index 16e5336bcc1..51acef44f52 100644
--- a/source/blender/blenkernel/BKE_smoke.h
+++ b/source/blender/blenkernel/BKE_smoke.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_softbody.h b/source/blender/blenkernel/BKE_softbody.h
index 6aea9344070..c889aa83b9a 100644
--- a/source/blender/blenkernel/BKE_softbody.h
+++ b/source/blender/blenkernel/BKE_softbody.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_sound.h b/source/blender/blenkernel/BKE_sound.h
index 3728dd41089..57746f3a68f 100644
--- a/source/blender/blenkernel/BKE_sound.h
+++ b/source/blender/blenkernel/BKE_sound.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_speaker.h b/source/blender/blenkernel/BKE_speaker.h
index 111bd86fdd3..d309c048f1a 100644
--- a/source/blender/blenkernel/BKE_speaker.h
+++ b/source/blender/blenkernel/BKE_speaker.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_subsurf.h b/source/blender/blenkernel/BKE_subsurf.h
index 30142c12601..dcbd045f62d 100644
--- a/source/blender/blenkernel/BKE_subsurf.h
+++ b/source/blender/blenkernel/BKE_subsurf.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_suggestions.h b/source/blender/blenkernel/BKE_suggestions.h
index c684271cbbf..a0a270422c7 100644
--- a/source/blender/blenkernel/BKE_suggestions.h
+++ b/source/blender/blenkernel/BKE_suggestions.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_text.h b/source/blender/blenkernel/BKE_text.h
index bf80b033fbd..2a613522686 100644
--- a/source/blender/blenkernel/BKE_text.h
+++ b/source/blender/blenkernel/BKE_text.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_texture.h b/source/blender/blenkernel/BKE_texture.h
index 9fb93f60fd5..de72428b3d7 100644
--- a/source/blender/blenkernel/BKE_texture.h
+++ b/source/blender/blenkernel/BKE_texture.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_unit.h b/source/blender/blenkernel/BKE_unit.h
index 269941597b0..1f54e4eeef0 100644
--- a/source/blender/blenkernel/BKE_unit.h
+++ b/source/blender/blenkernel/BKE_unit.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_utildefines.h b/source/blender/blenkernel/BKE_utildefines.h
index f65b937a54b..3222167c56e 100644
--- a/source/blender/blenkernel/BKE_utildefines.h
+++ b/source/blender/blenkernel/BKE_utildefines.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -25,7 +24,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file BKE_utildefines.h
  *  \ingroup bke
diff --git a/source/blender/blenkernel/BKE_world.h b/source/blender/blenkernel/BKE_world.h
index 6c8d1ba7945..fe25279dcfb 100644
--- a/source/blender/blenkernel/BKE_world.h
+++ b/source/blender/blenkernel/BKE_world.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_writeavi.h b/source/blender/blenkernel/BKE_writeavi.h
index 19cc1ae2dbf..f2502cf25f7 100644
--- a/source/blender/blenkernel/BKE_writeavi.h
+++ b/source/blender/blenkernel/BKE_writeavi.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_writeffmpeg.h b/source/blender/blenkernel/BKE_writeffmpeg.h
index 8345f0f5d2e..2b10f1b246c 100644
--- a/source/blender/blenkernel/BKE_writeffmpeg.h
+++ b/source/blender/blenkernel/BKE_writeffmpeg.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/BKE_writeframeserver.h b/source/blender/blenkernel/BKE_writeframeserver.h
index 8b2022076bb..2117a23b938 100644
--- a/source/blender/blenkernel/BKE_writeframeserver.h
+++ b/source/blender/blenkernel/BKE_writeframeserver.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/CMakeLists.txt b/source/blender/blenkernel/CMakeLists.txt
index bfadff06400..1930e7223f9 100644
--- a/source/blender/blenkernel/CMakeLists.txt
+++ b/source/blender/blenkernel/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -24,11 +23,6 @@
 #
 # ***** END GPL LICENSE BLOCK *****
 
-if(WITH_CODEC_FFMPEG)
-	# FFMPEG gives warnigns which are hard to avoid across multiple versions.
-	remove_strict_flags()
-endif()
-
 set(INC 
 	.
 	../avi
@@ -305,6 +299,10 @@ if(WITH_CODEC_FFMPEG)
 		${FFMPEG_INCLUDE_DIRS}
 	)
 	add_definitions(-DWITH_FFMPEG)
+
+	remove_strict_flags_file(
+		intern/writeffmpeg.c
+	)
 endif()
 
 if(WITH_PYTHON)
diff --git a/source/blender/blenkernel/depsgraph_private.h b/source/blender/blenkernel/depsgraph_private.h
index ef4f320602b..2dd14281253 100644
--- a/source/blender/blenkernel/depsgraph_private.h
+++ b/source/blender/blenkernel/depsgraph_private.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/BME_Customdata.c b/source/blender/blenkernel/intern/BME_Customdata.c
index 512866a6d87..8a6426eb3d5 100644
--- a/source/blender/blenkernel/intern/BME_Customdata.c
+++ b/source/blender/blenkernel/intern/BME_Customdata.c
@@ -3,7 +3,6 @@
  *
  *	Custom Data functions for Bmesh
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/BME_conversions.c b/source/blender/blenkernel/intern/BME_conversions.c
index 8b5cfe1b882..ce1da6132cd 100644
--- a/source/blender/blenkernel/intern/BME_conversions.c
+++ b/source/blender/blenkernel/intern/BME_conversions.c
@@ -3,7 +3,6 @@
  *
  *	BMesh mesh level functions.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/BME_eulers.c b/source/blender/blenkernel/intern/BME_eulers.c
index bbd439dcb93..25970dd8d91 100644
--- a/source/blender/blenkernel/intern/BME_eulers.c
+++ b/source/blender/blenkernel/intern/BME_eulers.c
@@ -3,7 +3,6 @@
  *
  *	BMesh Euler construction API.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/BME_mesh.c b/source/blender/blenkernel/intern/BME_mesh.c
index e34f2ee1e50..1b5761fb94e 100644
--- a/source/blender/blenkernel/intern/BME_mesh.c
+++ b/source/blender/blenkernel/intern/BME_mesh.c
@@ -3,7 +3,6 @@
  *
  *	BMesh mesh level functions.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/BME_structure.c b/source/blender/blenkernel/intern/BME_structure.c
index c385ad4fcda..6d8a8339e46 100644
--- a/source/blender/blenkernel/intern/BME_structure.c
+++ b/source/blender/blenkernel/intern/BME_structure.c
@@ -3,7 +3,6 @@
  *
  *	Low level routines for manipulating the BMesh structure.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/BME_tools.c b/source/blender/blenkernel/intern/BME_tools.c
index a95d149f058..d1c258cbc93 100644
--- a/source/blender/blenkernel/intern/BME_tools.c
+++ b/source/blender/blenkernel/intern/BME_tools.c
@@ -3,7 +3,6 @@
  *
  *	Functions for changing the topology of a mesh.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/CCGSubSurf.c b/source/blender/blenkernel/intern/CCGSubSurf.c
index bf9acb224d5..4793e83df53 100644
--- a/source/blender/blenkernel/intern/CCGSubSurf.c
+++ b/source/blender/blenkernel/intern/CCGSubSurf.c
@@ -1,4 +1,3 @@
-/* $Id$ */
 
 /** \file blender/blenkernel/intern/CCGSubSurf.c
  *  \ingroup bke
diff --git a/source/blender/blenkernel/intern/CCGSubSurf.h b/source/blender/blenkernel/intern/CCGSubSurf.h
index 1835e63727d..457ad2af353 100644
--- a/source/blender/blenkernel/intern/CCGSubSurf.h
+++ b/source/blender/blenkernel/intern/CCGSubSurf.h
@@ -1,4 +1,3 @@
-/* $Id$ */
 
 /** \file blender/blenkernel/intern/CCGSubSurf.h
  *  \ingroup bke
diff --git a/source/blender/blenkernel/intern/DerivedMesh.c b/source/blender/blenkernel/intern/DerivedMesh.c
index f9bd76e4ef0..0c99735f73e 100644
--- a/source/blender/blenkernel/intern/DerivedMesh.c
+++ b/source/blender/blenkernel/intern/DerivedMesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/action.c b/source/blender/blenkernel/intern/action.c
index 8b9f5ac98d3..ac0697ddbf9 100644
--- a/source/blender/blenkernel/intern/action.c
+++ b/source/blender/blenkernel/intern/action.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -139,19 +137,14 @@ void make_local_action(bAction *act)
 	
 	// XXX: double-check this; it used to be just single-user check, but that was when fake-users were still default
 	if ((act->id.flag & LIB_FAKEUSER) && (act->id.us<=1)) {
-		act->id.lib= NULL;
-		act->id.flag= LIB_LOCAL;
-		new_id(&bmain->action, (ID *)act, NULL);
+		id_clear_lib_data(&bmain->action, (ID *)act);
 		return;
 	}
 	
 	BKE_animdata_main_cb(bmain, make_localact_init_cb, &mlac);
 	
 	if (mlac.local && mlac.lib==0) {
-		act->id.lib= NULL;
-		act->id.flag= LIB_LOCAL;
-		//make_local_action_channels(act);
-		new_id(&bmain->action, (ID *)act, NULL);
+		id_clear_lib_data(&bmain->action, (ID *)act);
 	}
 	else if (mlac.local && mlac.lib) {
 		mlac.actn= copy_action(act);
@@ -883,7 +876,7 @@ void calc_action_range(const bAction *act, float *start, float *end, short incl_
 				
 				/* get extents for this curve */
 				// TODO: allow enabling/disabling this?
-				calc_fcurve_range(fcu, &nmin, &nmax, FALSE);
+				calc_fcurve_range(fcu, &nmin, &nmax, FALSE, TRUE);
 				
 				/* compare to the running tally */
 				min= MIN2(min, nmin);
diff --git a/source/blender/blenkernel/intern/anim.c b/source/blender/blenkernel/intern/anim.c
index da6dd5bd39d..716f3ed2726 100644
--- a/source/blender/blenkernel/intern/anim.c
+++ b/source/blender/blenkernel/intern/anim.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/anim_sys.c b/source/blender/blenkernel/intern/anim_sys.c
index 3cf14fa45ab..13abf18e20c 100644
--- a/source/blender/blenkernel/intern/anim_sys.c
+++ b/source/blender/blenkernel/intern/anim_sys.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index fbbce58414e..c1675faf053 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -143,9 +141,7 @@ void make_local_armature(bArmature *arm)
 
 	if (arm->id.lib==NULL) return;
 	if (arm->id.us==1) {
-		arm->id.lib= NULL;
-		arm->id.flag= LIB_LOCAL;
-		new_id(&bmain->armature, (ID*)arm, NULL);
+		id_clear_lib_data(&bmain->armature, (ID *)arm);
 		return;
 	}
 
@@ -157,9 +153,7 @@ void make_local_armature(bArmature *arm)
 	}
 
 	if(local && lib==0) {
-		arm->id.lib= NULL;
-		arm->id.flag= LIB_LOCAL;
-		new_id(&bmain->armature, (ID *)arm, NULL);
+		id_clear_lib_data(&bmain->armature, (ID *)arm);
 	}
 	else if(local && lib) {
 		bArmature *armn= copy_armature(arm);
diff --git a/source/blender/blenkernel/intern/blender.c b/source/blender/blenkernel/intern/blender.c
index b2bcd9aa6aa..4cbdbeb890d 100644
--- a/source/blender/blenkernel/intern/blender.c
+++ b/source/blender/blenkernel/intern/blender.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -63,6 +61,7 @@
 #include "BLI_callbacks.h"
 
 #include "IMB_imbuf.h"
+#include "IMB_moviecache.h"
 
 #include "BKE_blender.h"
 #include "BKE_context.h"
@@ -113,6 +112,7 @@ void free_blender(void)
 	BLI_cb_finalize();
 
 	seq_stripelem_cache_destruct();
+	IMB_moviecache_destruct();
 	
 	free_nodesystem();	
 }
diff --git a/source/blender/blenkernel/intern/bmesh_private.h b/source/blender/blenkernel/intern/bmesh_private.h
index d2b1d9fd566..b114f38cdd5 100644
--- a/source/blender/blenkernel/intern/bmesh_private.h
+++ b/source/blender/blenkernel/intern/bmesh_private.h
@@ -3,7 +3,6 @@
  *
  *	low level, 'private' function prototypes for bmesh kernel.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/bmfont.c b/source/blender/blenkernel/intern/bmfont.c
index d73d7509644..f1e6de9a0c4 100644
--- a/source/blender/blenkernel/intern/bmfont.c
+++ b/source/blender/blenkernel/intern/bmfont.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/boids.c b/source/blender/blenkernel/intern/boids.c
index 2a478d4ffe2..3ae81c70d4f 100644
--- a/source/blender/blenkernel/intern/boids.c
+++ b/source/blender/blenkernel/intern/boids.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/booleanops_mesh.c b/source/blender/blenkernel/intern/booleanops_mesh.c
index 4e8a3b33827..8dbf2c1c828 100644
--- a/source/blender/blenkernel/intern/booleanops_mesh.c
+++ b/source/blender/blenkernel/intern/booleanops_mesh.c
@@ -1,7 +1,6 @@
 #if 0
 
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/brush.c b/source/blender/blenkernel/intern/brush.c
index 4ab9d085de3..45558329d4d 100644
--- a/source/blender/blenkernel/intern/brush.c
+++ b/source/blender/blenkernel/intern/brush.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -183,6 +181,7 @@ void free_brush(Brush *brush)
 static void extern_local_brush(Brush *brush)
 {
 	id_lib_extern((ID *)brush->mtex.tex);
+	id_lib_extern((ID *)brush->clone.image);
 }
 
 void make_local_brush(Brush *brush)
@@ -200,10 +199,9 @@ void make_local_brush(Brush *brush)
 	if(brush->id.lib==NULL) return;
 
 	if(brush->clone.image) {
-		/* special case: ima always local immediately */
-		brush->clone.image->id.lib= NULL;
-		brush->clone.image->id.flag= LIB_LOCAL;
-		new_id(&bmain->brush, (ID *)brush->clone.image, NULL);
+		/* special case: ima always local immediately. Clone image should only
+		   have one user anyway. */
+		id_clear_lib_data(&bmain->brush, (ID *)brush->clone.image);
 		extern_local_brush(brush);
 	}
 
@@ -215,9 +213,7 @@ void make_local_brush(Brush *brush)
 	}
 
 	if(local && lib==0) {
-		brush->id.lib= NULL;
-		brush->id.flag= LIB_LOCAL;
-		new_id(&bmain->brush, (ID *)brush, NULL);
+		id_clear_lib_data(&bmain->brush, (ID *)brush);
 		extern_local_brush(brush);
 
 		/* enable fake user by default */
diff --git a/source/blender/blenkernel/intern/bullet.c b/source/blender/blenkernel/intern/bullet.c
index e4a02434cba..9fcb4389c62 100644
--- a/source/blender/blenkernel/intern/bullet.c
+++ b/source/blender/blenkernel/intern/bullet.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/bvhutils.c b/source/blender/blenkernel/intern/bvhutils.c
index 79229c49b4d..ee160a13fa2 100644
--- a/source/blender/blenkernel/intern/bvhutils.c
+++ b/source/blender/blenkernel/intern/bvhutils.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/cdderivedmesh.c b/source/blender/blenkernel/intern/cdderivedmesh.c
index 4d37d8e0606..25f9f17f201 100644
--- a/source/blender/blenkernel/intern/cdderivedmesh.c
+++ b/source/blender/blenkernel/intern/cdderivedmesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/cloth.c b/source/blender/blenkernel/intern/cloth.c
index d30476d44f8..444d17ad004 100644
--- a/source/blender/blenkernel/intern/cloth.c
+++ b/source/blender/blenkernel/intern/cloth.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/collision.c b/source/blender/blenkernel/intern/collision.c
index 26ee62e035b..09030575438 100644
--- a/source/blender/blenkernel/intern/collision.c
+++ b/source/blender/blenkernel/intern/collision.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/colortools.c b/source/blender/blenkernel/intern/colortools.c
index 83003809a37..98a434a7d8b 100644
--- a/source/blender/blenkernel/intern/colortools.c
+++ b/source/blender/blenkernel/intern/colortools.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 8eff86d846e..c244c26ad7f 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/context.c b/source/blender/blenkernel/intern/context.c
index 2aeb726f623..18c08b617de 100644
--- a/source/blender/blenkernel/intern/context.c
+++ b/source/blender/blenkernel/intern/context.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/curve.c b/source/blender/blenkernel/intern/curve.c
index 2e9ad11c6ca..4d93f2cba05 100644
--- a/source/blender/blenkernel/intern/curve.c
+++ b/source/blender/blenkernel/intern/curve.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -257,10 +255,7 @@ void make_local_curve(Curve *cu)
 	if(cu->id.lib==NULL) return;
 
 	if(cu->id.us==1) {
-		cu->id.lib= NULL;
-		cu->id.flag= LIB_LOCAL;
-
-		new_id(&bmain->curve, (ID *)cu, NULL);
+		id_clear_lib_data(&bmain->curve, (ID *)cu);
 		extern_local_curve(cu);
 		return;
 	}
@@ -273,10 +268,7 @@ void make_local_curve(Curve *cu)
 	}
 
 	if(local && lib==0) {
-		cu->id.lib= NULL;
-		cu->id.flag= LIB_LOCAL;
-
-		new_id(&bmain->curve, (ID *)cu, NULL);
+		id_clear_lib_data(&bmain->curve, (ID *)cu);
 		extern_local_curve(cu);
 	}
 	else if(local && lib) {
diff --git a/source/blender/blenkernel/intern/customdata.c b/source/blender/blenkernel/intern/customdata.c
index d59a9eed363..f2f3ade52bb 100644
--- a/source/blender/blenkernel/intern/customdata.c
+++ b/source/blender/blenkernel/intern/customdata.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/customdata_file.c b/source/blender/blenkernel/intern/customdata_file.c
index ab639897866..d65f08ed7a3 100644
--- a/source/blender/blenkernel/intern/customdata_file.c
+++ b/source/blender/blenkernel/intern/customdata_file.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/deform.c b/source/blender/blenkernel/intern/deform.c
index f18f533d460..0f6828cc358 100644
--- a/source/blender/blenkernel/intern/deform.c
+++ b/source/blender/blenkernel/intern/deform.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/depsgraph.c b/source/blender/blenkernel/intern/depsgraph.c
index d3c5942b685..c9df8a135fe 100644
--- a/source/blender/blenkernel/intern/depsgraph.c
+++ b/source/blender/blenkernel/intern/depsgraph.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/displist.c b/source/blender/blenkernel/intern/displist.c
index fb67c07cfe9..6ae556874bb 100644
--- a/source/blender/blenkernel/intern/displist.c
+++ b/source/blender/blenkernel/intern/displist.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/effect.c b/source/blender/blenkernel/intern/effect.c
index e3e769253f1..c4543df0d16 100644
--- a/source/blender/blenkernel/intern/effect.c
+++ b/source/blender/blenkernel/intern/effect.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/fcurve.c b/source/blender/blenkernel/intern/fcurve.c
index 0303f580e67..3529b7b9e6d 100644
--- a/source/blender/blenkernel/intern/fcurve.c
+++ b/source/blender/blenkernel/intern/fcurve.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -435,7 +433,8 @@ int binarysearch_bezt_index (BezTriple array[], float frame, int arraylen, short
 /* ...................................... */
 
 /* helper for calc_fcurve_* functions -> find first and last BezTriple to be used */
-static void get_fcurve_end_keyframes (FCurve *fcu, BezTriple **first, BezTriple **last, const short selOnly)
+static void get_fcurve_end_keyframes (FCurve *fcu, BezTriple **first, BezTriple **last,
+                                      const short do_sel_only)
 {
 	/* init outputs */
 	*first = NULL;
@@ -446,7 +445,7 @@ static void get_fcurve_end_keyframes (FCurve *fcu, BezTriple **first, BezTriple
 		return;
 	
 	/* only include selected items? */
-	if (selOnly) {
+	if (do_sel_only) {
 		BezTriple *bezt;
 		unsigned int i;
 		
@@ -477,11 +476,12 @@ static void get_fcurve_end_keyframes (FCurve *fcu, BezTriple **first, BezTriple
 
 
 /* Calculate the extents of F-Curve's data */
-void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, float *ymax, const short selOnly)
+void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, float *ymax,
+                         const short do_sel_only)
 {
 	float xminv=999999999.0f, xmaxv=-999999999.0f;
 	float yminv=999999999.0f, ymaxv=-999999999.0f;
-	short foundvert=0;
+	short foundvert= FALSE;
 	unsigned int i;
 	
 	if (fcu->totvert) {
@@ -490,7 +490,7 @@ void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, flo
 			
 			if (xmin || xmax) {
 				/* get endpoint keyframes */
-				get_fcurve_end_keyframes(fcu, &bezt_first, &bezt_last, selOnly);
+				get_fcurve_end_keyframes(fcu, &bezt_first, &bezt_last, do_sel_only);
 				
 				if (bezt_first) {
 					BLI_assert(bezt_last != NULL);
@@ -505,11 +505,12 @@ void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, flo
 				BezTriple *bezt;
 				
 				for (bezt=fcu->bezt, i=0; i < fcu->totvert; bezt++, i++) {
-					if ((selOnly == 0) || BEZSELECTED(bezt)) {
+					if ((do_sel_only == 0) || BEZSELECTED(bezt)) {
 						if (bezt->vec[1][1] < yminv)
 							yminv= bezt->vec[1][1];
 						if (bezt->vec[1][1] > ymaxv)
 							ymaxv= bezt->vec[1][1];
+						foundvert= TRUE;
 					}
 				}
 			}
@@ -530,11 +531,11 @@ void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, flo
 						yminv= fpt->vec[1];
 					if (fpt->vec[1] > ymaxv)
 						ymaxv= fpt->vec[1];
+
+					foundvert= TRUE;
 				}
 			}
 		}
-		
-		foundvert=1;
 	}
 	
 	if (foundvert) {
@@ -557,43 +558,50 @@ void calc_fcurve_bounds (FCurve *fcu, float *xmin, float *xmax, float *ymin, flo
 }
 
 /* Calculate the extents of F-Curve's keyframes */
-void calc_fcurve_range (FCurve *fcu, float *start, float *end, const short selOnly)
+void calc_fcurve_range (FCurve *fcu, float *start, float *end,
+                        const short do_sel_only, const short do_min_length)
 {
 	float min=999999999.0f, max=-999999999.0f;
-	short foundvert=0;
+	short foundvert= FALSE;
 
 	if (fcu->totvert) {
 		if (fcu->bezt) {
 			BezTriple *bezt_first= NULL, *bezt_last= NULL;
 			
 			/* get endpoint keyframes */
-			get_fcurve_end_keyframes(fcu, &bezt_first, &bezt_last, selOnly);
-			
+			get_fcurve_end_keyframes(fcu, &bezt_first, &bezt_last, do_sel_only);
+
 			if (bezt_first) {
 				BLI_assert(bezt_last != NULL);
-				
+
 				min= MIN2(min, bezt_first->vec[1][0]);
 				max= MAX2(max, bezt_last->vec[1][0]);
+
+				foundvert= TRUE;
 			}
 		}
 		else if (fcu->fpt) {
 			min= MIN2(min, fcu->fpt[0].vec[0]);
 			max= MAX2(max, fcu->fpt[fcu->totvert-1].vec[0]);
+
+			foundvert= TRUE;
 		}
 		
-		foundvert=1;
 	}
 	
-	/* minimum length is 1 frame */
-	if (foundvert) {
-		if (min == max) max += 1.0f;
-		*start= min;
-		*end= max;
+	if (foundvert == FALSE) {
+		min= max= 0.0f;
 	}
-	else {
-		*start= 0.0f;
-		*end= 1.0f;
+
+	if (do_min_length) {
+		/* minimum length is 1 frame */
+		if (min == max) {
+			max += 1.0f;
+		}
 	}
+
+	*start= min;
+	*end= max;
 }
 
 /* ----------------- Status Checks -------------------------- */
diff --git a/source/blender/blenkernel/intern/fluidsim.c b/source/blender/blenkernel/intern/fluidsim.c
index 9247646b927..bf432785064 100644
--- a/source/blender/blenkernel/intern/fluidsim.c
+++ b/source/blender/blenkernel/intern/fluidsim.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/fmodifier.c b/source/blender/blenkernel/intern/fmodifier.c
index d5c54893128..95c0aa60991 100644
--- a/source/blender/blenkernel/intern/fmodifier.c
+++ b/source/blender/blenkernel/intern/fmodifier.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/font.c b/source/blender/blenkernel/intern/font.c
index 068e70bbb50..0761b8f14c7 100644
--- a/source/blender/blenkernel/intern/font.c
+++ b/source/blender/blenkernel/intern/font.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/gpencil.c b/source/blender/blenkernel/intern/gpencil.c
index fa493315d4b..adbc0f03528 100644
--- a/source/blender/blenkernel/intern/gpencil.c
+++ b/source/blender/blenkernel/intern/gpencil.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/group.c b/source/blender/blenkernel/intern/group.c
index d96b00f7990..cd025ecb559 100644
--- a/source/blender/blenkernel/intern/group.c
+++ b/source/blender/blenkernel/intern/group.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/icons.c b/source/blender/blenkernel/intern/icons.c
index 07bb4666134..bcbce2bc1c2 100644
--- a/source/blender/blenkernel/intern/icons.c
+++ b/source/blender/blenkernel/intern/icons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/idcode.c b/source/blender/blenkernel/intern/idcode.c
index 063b5e961e0..d305499d3a1 100644
--- a/source/blender/blenkernel/intern/idcode.c
+++ b/source/blender/blenkernel/intern/idcode.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/idprop.c b/source/blender/blenkernel/intern/idprop.c
index 04fc41e41cc..ac4b936cb41 100644
--- a/source/blender/blenkernel/intern/idprop.c
+++ b/source/blender/blenkernel/intern/idprop.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/image.c b/source/blender/blenkernel/intern/image.c
index 37982e7fec9..5f7d2d40acc 100644
--- a/source/blender/blenkernel/intern/image.c
+++ b/source/blender/blenkernel/intern/image.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -62,10 +60,14 @@
 #include "DNA_camera_types.h"
 #include "DNA_sequence_types.h"
 #include "DNA_userdef_types.h"
+#include "DNA_brush_types.h"
+#include "DNA_mesh_types.h"
+#include "DNA_meshdata_types.h"
 
 #include "BLI_blenlib.h"
 #include "BLI_threads.h"
 #include "BLI_utildefines.h"
+#include "BLI_bpath.h"
 
 #include "BKE_bmfont.h"
 #include "BKE_global.h"
@@ -315,6 +317,132 @@ Image *copy_image(Image *ima)
 	return nima;
 }
 
+static void extern_local_image(Image *UNUSED(ima))
+{
+	/* Nothing to do: images don't link to other IDs. This function exists to
+	   match id_make_local pattern. */
+}
+
+void make_local_image(struct Image *ima) {
+	Main *bmain= G.main;
+	Tex *tex;
+	Brush *brush;
+	Mesh *me;
+	int local=0, lib=0;
+
+	/* - only lib users: do nothing
+	 * - only local users: set flag
+	 * - mixed: make copy
+	 */
+
+	if(ima->id.lib==NULL) return;
+
+	/* Can't take short cut here: must check meshes at least because of bogus
+	   texface ID refs. - z0r */
+#if(0)
+	if(ima->id.us==1) {
+		id_clear_lib_data(&bmain->image, (ID *)ima);
+		extern_local_image(ima);
+		return;
+	}
+#endif
+
+	for(tex= bmain->tex.first; tex; tex= tex->id.next) {
+		if(tex->ima == ima) {
+			if(tex->id.lib) lib= 1;
+			else local= 1;
+		}
+	}
+	for(brush= bmain->brush.first; brush; brush= brush->id.next) {
+		if(brush->clone.image == ima) {
+			if(brush->id.lib) lib= 1;
+			else local= 1;
+		}
+	}
+	for(me= bmain->mesh.first; me; me= me->id.next) {
+		if(me->mtface) {
+			MTFace *tface;
+			int a, i;
+
+			for(i=0; i<me->fdata.totlayer; i++) {
+				if(me->fdata.layers[i].type == CD_MTFACE) {
+					tface= (MTFace*)me->fdata.layers[i].data;
+
+					for(a=0; a<me->totface; a++, tface++) {
+						if(tface->tpage == ima) {
+							if(me->id.lib) lib=1;
+							else local= 1;
+						}
+					}
+				}
+			}
+		}
+	}
+
+	if(local && lib==0) {
+		id_clear_lib_data(&bmain->image, (ID *)ima);
+		extern_local_image(ima);
+	}
+	else if(local && lib) {
+		Image *iman= copy_image(ima);
+		iman->id.us= 0;
+
+		/* Remap paths of new ID using old library as base. */
+		bpath_traverse_id((ID *)iman, bpath_relocate_visitor,
+		                     ((ID *)ima)->lib->filepath);
+
+		tex= bmain->tex.first;
+		while(tex) {
+			if(tex->id.lib==NULL) {
+				if(tex->ima==ima) {
+					tex->ima = iman;
+					iman->id.us++;
+					ima->id.us--;
+				}
+			}
+			tex= tex->id.next;
+		}
+		brush= bmain->brush.first;
+		while(brush) {
+			if(brush->id.lib==NULL) {
+				if(brush->clone.image==ima) {
+					brush->clone.image = iman;
+					iman->id.us++;
+					ima->id.us--;
+				}
+			}
+			brush= brush->id.next;
+		}
+		/* Transfer references in texfaces. Texfaces don't add to image ID
+		   user count *unless* there are no other users. See
+		   readfile.c:lib_link_mtface. */
+		me= bmain->mesh.first;
+		while(me) {
+			if(me->mtface) {
+				MTFace *tface;
+				int a, i;
+
+				for(i=0; i<me->fdata.totlayer; i++) {
+					if(me->fdata.layers[i].type == CD_MTFACE) {
+						tface= (MTFace*)me->fdata.layers[i].data;
+
+						for(a=0; a<me->totface; a++, tface++) {	
+							if(tface->tpage == ima) {
+								tface->tpage = iman;
+								if(iman->id.us == 0) {
+									tface->tpage->id.us= 1;
+								}
+								id_lib_extern((ID*)iman);
+							}
+						}
+					}
+				}
+			}
+			me= me->id.next;
+		}
+	}
+}
+
 void BKE_image_merge(Image *dest, Image *source)
 {
 	ImBuf *ibuf;
diff --git a/source/blender/blenkernel/intern/image_gen.c b/source/blender/blenkernel/intern/image_gen.c
index f4d1ff4241d..751980f61e8 100644
--- a/source/blender/blenkernel/intern/image_gen.c
+++ b/source/blender/blenkernel/intern/image_gen.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/implicit.c b/source/blender/blenkernel/intern/implicit.c
index cef3eee8c5e..313143f362b 100644
--- a/source/blender/blenkernel/intern/implicit.c
+++ b/source/blender/blenkernel/intern/implicit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/ipo.c b/source/blender/blenkernel/intern/ipo.c
index 609f6cd38f1..85e00bcea06 100644
--- a/source/blender/blenkernel/intern/ipo.c
+++ b/source/blender/blenkernel/intern/ipo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/key.c b/source/blender/blenkernel/intern/key.c
index 3baf8e04b90..5ac8780e4a2 100644
--- a/source/blender/blenkernel/intern/key.c
+++ b/source/blender/blenkernel/intern/key.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/lattice.c b/source/blender/blenkernel/intern/lattice.c
index cbff9c2337e..ebf5492625b 100644
--- a/source/blender/blenkernel/intern/lattice.c
+++ b/source/blender/blenkernel/intern/lattice.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -257,9 +255,7 @@ void make_local_lattice(Lattice *lt)
 	
 	if(lt->id.lib==NULL) return;
 	if(lt->id.us==1) {
-		lt->id.lib= NULL;
-		lt->id.flag= LIB_LOCAL;
-		new_id(&bmain->latt, (ID *)lt, NULL);
+		id_clear_lib_data(&bmain->latt, (ID *)lt);
 		return;
 	}
 	
@@ -271,9 +267,7 @@ void make_local_lattice(Lattice *lt)
 	}
 	
 	if(local && lib==0) {
-		lt->id.lib= NULL;
-		lt->id.flag= LIB_LOCAL;
-		new_id(&bmain->latt, (ID *)lt, NULL);
+		id_clear_lib_data(&bmain->latt, (ID *)lt);
 	}
 	else if(local && lib) {
 		Lattice *ltn= copy_lattice(lt);
diff --git a/source/blender/blenkernel/intern/library.c b/source/blender/blenkernel/intern/library.c
index 1dc53811fc0..0c2ca4c68b3 100644
--- a/source/blender/blenkernel/intern/library.c
+++ b/source/blender/blenkernel/intern/library.c
@@ -1,6 +1,4 @@
-/* 
- * $Id$
- * 
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -76,7 +74,7 @@
 #include "BLI_blenlib.h"
 #include "BLI_dynstr.h"
 #include "BLI_utildefines.h"
-
+#include "BLI_bpath.h"
 
 #include "BKE_animsys.h"
 #include "BKE_context.h"
@@ -110,6 +108,7 @@
 #include "BKE_gpencil.h"
 #include "BKE_fcurve.h"
 #include "BKE_speaker.h"
+#include "BKE_utildefines.h"
 
 #include "RNA_access.h"
 
@@ -196,7 +195,8 @@ int id_make_local(ID *id, int test)
 			if(!test) make_local_texture((Tex*)id);
 			return 1;
 		case ID_IM:
-			return 0; /* not implemented */
+			if(!test) make_local_image((Image*)id);
+			return 1;
 		case ID_LT:
 			if(!test) {
 				make_local_lattice((Lattice*)id);
@@ -1248,6 +1248,16 @@ int new_id(ListBase *lb, ID *id, const char *tname)
 	return result;
 }
 
+/* Pull an ID out of a library (make it local). Only call this for IDs that
+   don't have other library users. */
+void id_clear_lib_data(ListBase *lb, ID *id)
+{
+	bpath_traverse_id(id, bpath_relocate_visitor, id->lib->filepath);
+	id->lib= NULL;
+	id->flag= LIB_LOCAL;
+	new_id(lb, id, NULL);
+}
+
 /* next to indirect usage in read/writefile also in editobject.c scene.c */
 void clear_id_newpoins(void)
 {
@@ -1463,3 +1473,21 @@ void name_uiprefix_id(char *name, ID *id)
 
 	strcpy(name+3, id->name+2);
 }
+
+void BKE_library_filepath_set(Library *lib, const char *filepath)
+{
+	BLI_strncpy(lib->name, filepath, sizeof(lib->name));
+	BLI_strncpy(lib->filepath, filepath, sizeof(lib->filepath));
+
+	/* not essential but set filepath is an absolute copy of value which
+	 * is more useful if its kept in sync */
+	if (strncmp(lib->filepath, "//", 2) == 0) {
+		/* note that the file may be unsaved, in this case, setting the
+		 * filepath on an indirectly linked path is not allowed from the
+		 * outliner, and its not really supported but allow from here for now
+		 * since making local could cause this to be directly linked - campbell
+		 */
+		const char *basepath= lib->parent ? lib->parent->filepath : G.main->name;
+		BLI_path_abs(lib->filepath, basepath);
+	}
+}
diff --git a/source/blender/blenkernel/intern/material.c b/source/blender/blenkernel/intern/material.c
index ebd05ab9bf8..12d92d57e86 100644
--- a/source/blender/blenkernel/intern/material.c
+++ b/source/blender/blenkernel/intern/material.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -296,15 +294,16 @@ void make_local_material(Material *ma)
 		*/
 	
 	if(ma->id.lib==NULL) return;
-	if(ma->id.us==1) {
-		ma->id.lib= NULL;
-		ma->id.flag= LIB_LOCAL;
 
-		new_id(&bmain->mat, (ID *)ma, NULL);
+	/* One local user; set flag and return. */
+	if(ma->id.us==1) {
+		id_clear_lib_data(&bmain->mat, (ID *)ma);
 		extern_local_material(ma);
 		return;
 	}
-	
+
+	/* Check which other IDs reference this one to determine if it's used by
+	   lib or local */
 	/* test objects */
 	ob= bmain->object.first;
 	while(ob) {
@@ -357,14 +356,13 @@ void make_local_material(Material *ma)
 		}
 		mb= mb->id.next;
 	}
-	
-	if(local && lib==0) {
-		ma->id.lib= NULL;
-		ma->id.flag= LIB_LOCAL;
 
-		new_id(&bmain->mat, (ID *)ma, NULL);
+	/* Only local users. */
+	if(local && lib==0) {
+		id_clear_lib_data(&bmain->mat, (ID *)ma);
 		extern_local_material(ma);
 	}
+	/* Both user and local, so copy. */
 	else if(local && lib) {
 		
 		man= copy_material(ma);
diff --git a/source/blender/blenkernel/intern/mball.c b/source/blender/blenkernel/intern/mball.c
index 05d07ddf918..2c6a3b80d94 100644
--- a/source/blender/blenkernel/intern/mball.c
+++ b/source/blender/blenkernel/intern/mball.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -158,9 +156,7 @@ void make_local_mball(MetaBall *mb)
 	
 	if(mb->id.lib==NULL) return;
 	if(mb->id.us==1) {
-		mb->id.lib= NULL;
-		mb->id.flag= LIB_LOCAL;
-		new_id(&bmain->mball, (ID *)mb, NULL);
+		id_clear_lib_data(&bmain->mball, (ID *)mb);
 		extern_local_mball(mb);
 		
 		return;
@@ -174,10 +170,7 @@ void make_local_mball(MetaBall *mb)
 	}
 	
 	if(local && lib==0) {
-		mb->id.lib= NULL;
-		mb->id.flag= LIB_LOCAL;
-
-		new_id(&bmain->mball, (ID *)mb, NULL);
+		id_clear_lib_data(&bmain->mball, (ID *)mb);
 		extern_local_mball(mb);
 	}
 	else if(local && lib) {
diff --git a/source/blender/blenkernel/intern/mesh.c b/source/blender/blenkernel/intern/mesh.c
index 9574c886ccc..a5bf39d895c 100644
--- a/source/blender/blenkernel/intern/mesh.c
+++ b/source/blender/blenkernel/intern/mesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -243,39 +241,26 @@ Mesh *copy_mesh(Mesh *me)
 	return men;
 }
 
-static void make_local_tface(Main *bmain, Mesh *me)
+static void expand_local_mesh(Mesh *me)
 {
-	MTFace *tface;
-	Image *ima;
-	int a, i;
-	
-	for(i=0; i<me->fdata.totlayer; i++) {
-		if(me->fdata.layers[i].type == CD_MTFACE) {
-			tface= (MTFace*)me->fdata.layers[i].data;
-			
-			for(a=0; a<me->totface; a++, tface++) {
-				/* special case: ima always local immediately */
-				if(tface->tpage) {
-					ima= tface->tpage;
-					if(ima->id.lib) {
-						ima->id.lib= NULL;
-						ima->id.flag= LIB_LOCAL;
-						new_id(&bmain->image, (ID *)ima, NULL);
+	id_lib_extern((ID *)me->texcomesh);
+
+	if(me->mtface) {
+		MTFace *tface;
+		int a, i;
+
+		for(i=0; i<me->fdata.totlayer; i++) {
+			if(me->fdata.layers[i].type == CD_MTFACE) {
+				tface= (MTFace*)me->fdata.layers[i].data;
+
+				for(a=0; a<me->totface; a++, tface++) {
+					if(tface->tpage) {
+						id_lib_extern((ID *)tface->tpage);
 					}
 				}
 			}
 		}
 	}
-}
-
-static void expand_local_mesh(Main *bmain, Mesh *me)
-{
-	id_lib_extern((ID *)me->texcomesh);
-
-	if(me->mtface) {
-		/* why is this an exception? - should not really make local when extern'ing - campbell */
-		make_local_tface(bmain, me);
-	}
 
 	if(me->mat) {
 		extern_local_matarar(me->mat, me->totcol);
@@ -295,11 +280,8 @@ void make_local_mesh(Mesh *me)
 
 	if(me->id.lib==NULL) return;
 	if(me->id.us==1) {
-		me->id.lib= NULL;
-		me->id.flag= LIB_LOCAL;
-
-		new_id(&bmain->mesh, (ID *)me, NULL);
-		expand_local_mesh(bmain, me);
+		id_clear_lib_data(&bmain->mesh, (ID *)me);
+		expand_local_mesh(me);
 		return;
 	}
 
@@ -311,11 +293,8 @@ void make_local_mesh(Mesh *me)
 	}
 
 	if(local && lib==0) {
-		me->id.lib= NULL;
-		me->id.flag= LIB_LOCAL;
-
-		new_id(&bmain->mesh, (ID *)me, NULL);
-		expand_local_mesh(bmain, me);
+		id_clear_lib_data(&bmain->mesh, (ID *)me);
+		expand_local_mesh(me);
 	}
 	else if(local && lib) {
 		Mesh *men= copy_mesh(me);
diff --git a/source/blender/blenkernel/intern/mesh_validate.c b/source/blender/blenkernel/intern/mesh_validate.c
index 4d735f1d54b..0dac4b8cd80 100644
--- a/source/blender/blenkernel/intern/mesh_validate.c
+++ b/source/blender/blenkernel/intern/mesh_validate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -117,9 +115,10 @@ static int search_face_cmp(const void *v1, const void *v2)
 
 }
 
+#define PRINT if(do_verbose) printf
+
 int BKE_mesh_validate_arrays(Mesh *me, MVert *UNUSED(mverts), unsigned int totvert, MEdge *medges, unsigned int totedge, MFace *mfaces, unsigned int totface, const short do_verbose, const short do_fixes)
 {
-#	define PRINT if(do_verbose) printf
 #	define REMOVE_EDGE_TAG(_med) { _med->v2= _med->v1; do_edge_free= 1; }
 #	define REMOVE_FACE_TAG(_mf) { _mf->v3=0; do_face_free= 1; }
 
@@ -284,7 +283,6 @@ int BKE_mesh_validate_arrays(Mesh *me, MVert *UNUSED(mverts), unsigned int totve
 
 	PRINT("BKE_mesh_validate: finished\n\n");
 
-#	 undef PRINT
 #	 undef REMOVE_EDGE_TAG
 #	 undef REMOVE_FACE_TAG
 
@@ -305,12 +303,57 @@ int BKE_mesh_validate_arrays(Mesh *me, MVert *UNUSED(mverts), unsigned int totve
 	return (do_face_free || do_edge_free || do_edge_recalc);
 }
 
+static int mesh_validate_customdata(CustomData *data, short do_verbose, const short do_fixes)
+{
+	int i= 0, has_fixes= 0;
+
+	while(i<data->totlayer) {
+		CustomDataLayer *layer= &data->layers[i];
+		int mask= 1 << layer->type;
+		int ok= 1;
+
+		if((mask&CD_MASK_MESH)==0) {
+			PRINT("CustomDataLayer type %d which isn't in CD_MASK_MESH is stored in Mehs structure\n", layer->type);
+
+			if(do_fixes) {
+				CustomData_free_layer(data, layer->type, 0, i);
+				ok= 0;
+				has_fixes= 1;
+			}
+		}
+
+		if(ok)
+			i++;
+	}
+
+	return has_fixes;
+}
+
+#undef PRINT
+
+int BKE_mesh_validate_all_customdata(CustomData *vdata, CustomData *edata, CustomData *fdata, short do_verbose, const short do_fixes)
+{
+	int vfixed= 0, efixed= 0, ffixed= 0;
+
+	vfixed= mesh_validate_customdata(vdata, do_verbose, do_fixes);
+	efixed= mesh_validate_customdata(edata, do_verbose, do_fixes);
+	ffixed= mesh_validate_customdata(fdata, do_verbose, do_fixes);
+
+	return vfixed || efixed || ffixed;
+}
+
 int BKE_mesh_validate(Mesh *me, int do_verbose)
 {
+	int layers_fixed= 0, arrays_fixed= 0;
+
 	if(do_verbose) {
 		printf("MESH: %s\n", me->id.name+2);
 	}
-	return BKE_mesh_validate_arrays(me, me->mvert, me->totvert, me->medge, me->totedge, me->mface, me->totface, do_verbose, TRUE);
+
+	layers_fixed= BKE_mesh_validate_all_customdata(&me->vdata, &me->edata, &me->fdata, do_verbose, TRUE);
+	arrays_fixed= BKE_mesh_validate_arrays(me, me->mvert, me->totvert, me->medge, me->totedge, me->mface, me->totface, do_verbose, TRUE);
+
+	return layers_fixed || arrays_fixed;
 }
 
 int BKE_mesh_validate_dm(DerivedMesh *dm)
diff --git a/source/blender/blenkernel/intern/modifier.c b/source/blender/blenkernel/intern/modifier.c
index 2056762e627..bbc1b596889 100644
--- a/source/blender/blenkernel/intern/modifier.c
+++ b/source/blender/blenkernel/intern/modifier.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/multires.c b/source/blender/blenkernel/intern/multires.c
index 749930d4278..6579d7a01f4 100644
--- a/source/blender/blenkernel/intern/multires.c
+++ b/source/blender/blenkernel/intern/multires.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/navmesh_conversion.c b/source/blender/blenkernel/intern/navmesh_conversion.c
index f670486484b..e3b5b83964e 100644
--- a/source/blender/blenkernel/intern/navmesh_conversion.c
+++ b/source/blender/blenkernel/intern/navmesh_conversion.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/nla.c b/source/blender/blenkernel/intern/nla.c
index 15513675c7a..fd5c7912e1f 100644
--- a/source/blender/blenkernel/intern/nla.c
+++ b/source/blender/blenkernel/intern/nla.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/node.c b/source/blender/blenkernel/intern/node.c
index cb1f52a6265..6a3e0353a07 100644
--- a/source/blender/blenkernel/intern/node.c
+++ b/source/blender/blenkernel/intern/node.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -1041,6 +1039,7 @@ static void ntreeMakeLocal_LinkNew(void *calldata, ID *owner_id, bNodeTree *ntre
 
 void ntreeMakeLocal(bNodeTree *ntree)
 {
+	Main *bmain= G.main;
 	bNodeTreeType *treetype= ntreeGetType(ntree->type);
 	MakeLocalCallData cd;
 	
@@ -1051,9 +1050,7 @@ void ntreeMakeLocal(bNodeTree *ntree)
 	
 	if(ntree->id.lib==NULL) return;
 	if(ntree->id.us==1) {
-		ntree->id.lib= NULL;
-		ntree->id.flag= LIB_LOCAL;
-		new_id(NULL, (ID *)ntree, NULL);
+		id_clear_lib_data(&bmain->nodetree, (ID *)ntree);
 		return;
 	}
 	
@@ -1067,9 +1064,7 @@ void ntreeMakeLocal(bNodeTree *ntree)
 	
 	/* if all users are local, we simply make tree local */
 	if(cd.local && cd.lib==0) {
-		ntree->id.lib= NULL;
-		ntree->id.flag= LIB_LOCAL;
-		new_id(NULL, (ID *)ntree, NULL);
+		id_clear_lib_data(&bmain->nodetree, (ID *)ntree);
 	}
 	else if(cd.local && cd.lib) {
 		/* this is the mixed case, we copy the tree and assign it to local users */
diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 2b6db72bd07..6e09aefeea2 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -758,9 +756,7 @@ void make_local_camera(Camera *cam)
 	
 	if(cam->id.lib==NULL) return;
 	if(cam->id.us==1) {
-		cam->id.lib= NULL;
-		cam->id.flag= LIB_LOCAL;
-		new_id(&bmain->camera, (ID *)cam, NULL);
+		id_clear_lib_data(&bmain->camera, (ID *)cam);
 		return;
 	}
 	
@@ -772,9 +768,7 @@ void make_local_camera(Camera *cam)
 	}
 	
 	if(local && lib==0) {
-		cam->id.lib= NULL;
-		cam->id.flag= LIB_LOCAL;
-		new_id(&bmain->camera, (ID *)cam, NULL);
+		id_clear_lib_data(&bmain->camera, (ID *)cam);
 	}
 	else if(local && lib) {
 		Camera *camn= copy_camera(cam);
@@ -923,9 +917,7 @@ void make_local_lamp(Lamp *la)
 	
 	if(la->id.lib==NULL) return;
 	if(la->id.us==1) {
-		la->id.lib= NULL;
-		la->id.flag= LIB_LOCAL;
-		new_id(&bmain->lamp, (ID *)la, NULL);
+		id_clear_lib_data(&bmain->lamp, (ID *)la);
 		return;
 	}
 	
@@ -939,9 +931,7 @@ void make_local_lamp(Lamp *la)
 	}
 	
 	if(local && lib==0) {
-		la->id.lib= NULL;
-		la->id.flag= LIB_LOCAL;
-		new_id(&bmain->lamp, (ID *)la, NULL);
+		id_clear_lib_data(&bmain->lamp, (ID *)la);
 	}
 	else if(local && lib) {
 		lan= copy_lamp(la);
@@ -1093,6 +1083,7 @@ Object *add_only_object(int type, const char *name)
 	/* ob->pad3 == Contact Processing Threshold */
 	ob->m_contactProcessingThreshold = 1.;
 	ob->obstacleRad = 1.;
+	ob->col_group = ob->col_mask = 1;
 	
 	/* NT fluid sim defaults */
 	ob->fluidsimFlag = 0;
@@ -1470,9 +1461,8 @@ void make_local_object(Object *ob)
 	ob->proxy= ob->proxy_from= NULL;
 	
 	if(ob->id.us==1) {
-		ob->id.lib= NULL;
-		ob->id.flag= LIB_LOCAL;
-		new_id(&bmain->object, (ID *)ob, NULL);
+		id_clear_lib_data(&bmain->object, (ID *)ob);
+		extern_local_object(ob);
 	}
 	else {
 		for(sce= bmain->scene.first; sce && ELEM(0, lib, local); sce= sce->id.next) {
@@ -1483,9 +1473,8 @@ void make_local_object(Object *ob)
 		}
 
 		if(local && lib==0) {
-			ob->id.lib= NULL;
-			ob->id.flag= LIB_LOCAL;
-			new_id(&bmain->object, (ID *)ob, NULL);
+			id_clear_lib_data(&bmain->object, (ID *)ob);
+			extern_local_object(ob);
 		}
 		else if(local && lib) {
 			Object *obn= copy_object(ob);
@@ -1508,8 +1497,6 @@ void make_local_object(Object *ob)
 			}
 		}
 	}
-	
-	extern_local_object(ob);
 }
 
 /*
diff --git a/source/blender/blenkernel/intern/packedFile.c b/source/blender/blenkernel/intern/packedFile.c
index 70b0b7727c4..ea1dbec8a27 100644
--- a/source/blender/blenkernel/intern/packedFile.c
+++ b/source/blender/blenkernel/intern/packedFile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/paint.c b/source/blender/blenkernel/intern/paint.c
index ddeb42d608e..56ce853bfb9 100644
--- a/source/blender/blenkernel/intern/paint.c
+++ b/source/blender/blenkernel/intern/paint.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/particle.c b/source/blender/blenkernel/intern/particle.c
index 8a83dcac765..f478c8faf07 100644
--- a/source/blender/blenkernel/intern/particle.c
+++ b/source/blender/blenkernel/intern/particle.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -3612,9 +3610,7 @@ void make_local_particlesettings(ParticleSettings *part)
 	
 	if(part->id.lib==0) return;
 	if(part->id.us==1) {
-		part->id.lib= 0;
-		part->id.flag= LIB_LOCAL;
-		new_id(&bmain->particle, (ID *)part, 0);
+		id_clear_lib_data(&bmain->particle, (ID *)part);
 		expand_local_particlesettings(part);
 		return;
 	}
@@ -3631,9 +3627,7 @@ void make_local_particlesettings(ParticleSettings *part)
 	}
 	
 	if(local && lib==0) {
-		part->id.lib= 0;
-		part->id.flag= LIB_LOCAL;
-		new_id(&bmain->particle, (ID *)part, 0);
+		id_clear_lib_data(&bmain->particle, (ID *)part);
 		expand_local_particlesettings(part);
 	}
 	else if(local && lib) {
diff --git a/source/blender/blenkernel/intern/particle_system.c b/source/blender/blenkernel/intern/particle_system.c
index cebefe81495..c28bbfa0554 100644
--- a/source/blender/blenkernel/intern/particle_system.c
+++ b/source/blender/blenkernel/intern/particle_system.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/pointcache.c b/source/blender/blenkernel/intern/pointcache.c
index d4753f30ef2..fa9d94eb24d 100644
--- a/source/blender/blenkernel/intern/pointcache.c
+++ b/source/blender/blenkernel/intern/pointcache.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/property.c b/source/blender/blenkernel/intern/property.c
index e0e2876f79e..f9d470e48d8 100644
--- a/source/blender/blenkernel/intern/property.c
+++ b/source/blender/blenkernel/intern/property.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/report.c b/source/blender/blenkernel/intern/report.c
index 4926edaeec2..ffa9e027108 100644
--- a/source/blender/blenkernel/intern/report.c
+++ b/source/blender/blenkernel/intern/report.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/sca.c b/source/blender/blenkernel/intern/sca.c
index a75a075dfc1..f7eda6bd9b3 100644
--- a/source/blender/blenkernel/intern/sca.c
+++ b/source/blender/blenkernel/intern/sca.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/scene.c b/source/blender/blenkernel/intern/scene.c
index 5ea635d8c30..6b3786663df 100644
--- a/source/blender/blenkernel/intern/scene.c
+++ b/source/blender/blenkernel/intern/scene.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/screen.c b/source/blender/blenkernel/intern/screen.c
index ef1b75e5913..02e6fe945f3 100644
--- a/source/blender/blenkernel/intern/screen.c
+++ b/source/blender/blenkernel/intern/screen.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenkernel/intern/script.c b/source/blender/blenkernel/intern/script.c
index 77a79a6c8a4..5fadebc80f8 100644
--- a/source/blender/blenkernel/intern/script.c
+++ b/source/blender/blenkernel/intern/script.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/seqcache.c b/source/blender/blenkernel/intern/seqcache.c
index 88e9d9209d4..c5761dcc456 100644
--- a/source/blender/blenkernel/intern/seqcache.c
+++ b/source/blender/blenkernel/intern/seqcache.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -19,6 +17,8 @@
  *
  * Peter Schlaile <peter [at] schlaile [dot] de> 2010
  *
+ * Contributor(s): Sergey Sharybin
+ *
  * ***** END GPL LICENSE BLOCK *****
  */
 
@@ -28,22 +28,15 @@
 
 
 #include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
+
+#include "BLO_sys_types.h"	/* for intptr_t */
 
 #include "MEM_guardedalloc.h"
-#include "MEM_CacheLimiterC-Api.h"
 
 #include "DNA_sequence_types.h"
 #include "BKE_sequencer.h"
-#include "BLI_utildefines.h"
-#include "BLI_ghash.h"
-#include "BLI_mempool.h"
-#include <pthread.h>
 
-#include "IMB_imbuf.h"
-#include "IMB_imbuf_types.h"
+#include "IMB_moviecache.h"
 
 typedef struct seqCacheKey 
 {
@@ -53,20 +46,9 @@ typedef struct seqCacheKey
 	seq_stripelem_ibuf_t type;
 } seqCacheKey;
 
-typedef struct seqCacheEntry
-{
-	ImBuf * ibuf;
-	MEM_CacheLimiterHandleC * c_handle;
-} seqCacheEntry;
-
-static GHash * hash = NULL;
-static MEM_CacheLimiterC * limitor = NULL;
-static struct BLI_mempool * entrypool = NULL;
-static struct BLI_mempool * keypool = NULL;
-static int ibufs_in  = 0;
-static int ibufs_rem = 0;
-
-static unsigned int HashHash(const void *key_)
+static struct MovieCache *moviecache = NULL;
+
+static unsigned int seqcache_hashhash(const void *key_)
 {
 	const seqCacheKey *key = (seqCacheKey*) key_;
 	unsigned int rval = seq_hash_render_data(&key->context);
@@ -78,7 +60,7 @@ static unsigned int HashHash(const void *key_)
 	return rval;
 }
 
-static int HashCmp(const void *a_, const void *b_)
+static int seqcache_hashcmp(const void *a_, const void *b_)
 {
 	const seqCacheKey * a = (seqCacheKey*) a_;
 	const seqCacheKey * b = (seqCacheKey*) b_;
@@ -107,109 +89,37 @@ static int HashCmp(const void *a_, const void *b_)
 	return seq_cmp_render_data(&a->context, &b->context);
 }
 
-static void HashKeyFree(void *key)
-{
-	BLI_mempool_free(keypool, key);
-}
-
-static void HashValFree(void *val)
-{
-	seqCacheEntry* e = (seqCacheEntry*) val;
-
-	if (e->ibuf) {
-		/* fprintf(stderr, "Removing: %p, cnt: %d\n", e->ibuf, 
-		   e->ibuf->refcounter); */
-		IMB_freeImBuf(e->ibuf);
-		MEM_CacheLimiter_unmanage(e->c_handle);
-		ibufs_rem++;
-	}
-
-	e->ibuf = NULL;
-	e->c_handle = NULL;
-
-	BLI_mempool_free(entrypool, e);
-}
-
-static void IMB_seq_cache_destructor(void * p)
-{
-	seqCacheEntry* e = (seqCacheEntry*) p;
-	
-	if (e && e->ibuf) {
-		/* fprintf(stderr, "Removing: %p, cnt: %d\n", e->ibuf,
-		   e->ibuf->refcounter); */
-		IMB_freeImBuf(e->ibuf);
-		ibufs_rem++;
-
-		e->ibuf = NULL;
-		e->c_handle = NULL;
-	}
-}
-
-void seq_stripelem_cache_init(void)
-{
-	hash = BLI_ghash_new(HashHash, HashCmp, "seq stripelem cache hash");
-	limitor = new_MEM_CacheLimiter( IMB_seq_cache_destructor );
-
-	entrypool = BLI_mempool_create(sizeof(seqCacheEntry), 64, 64, 0);
-	keypool = BLI_mempool_create(sizeof(seqCacheKey), 64, 64, 0);
-}
-
 void seq_stripelem_cache_destruct(void)
 {
-	if (!entrypool) {
-		return;
-	}
-	BLI_ghash_free(hash, HashKeyFree, HashValFree);
-	delete_MEM_CacheLimiter(limitor);
-	BLI_mempool_destroy(entrypool);
-	BLI_mempool_destroy(keypool);
+	if(moviecache)
+		IMB_moviecache_free(moviecache);
 }
 
 void seq_stripelem_cache_cleanup(void)
 {
-	if (!entrypool) {
-		seq_stripelem_cache_init();
+	if(moviecache) {
+		IMB_moviecache_free(moviecache);
+		moviecache = IMB_moviecache_create(sizeof(seqCacheKey), seqcache_hashhash,
+				seqcache_hashcmp, NULL);
 	}
-
-	/* fprintf(stderr, "Stats before cleanup: in: %d rem: %d\n",
-	   ibufs_in, ibufs_rem); */
-
-	BLI_ghash_free(hash, HashKeyFree, HashValFree);
-	hash = BLI_ghash_new(HashHash, HashCmp, "seq stripelem cache hash");
-
-	/* fprintf(stderr, "Stats after cleanup: in: %d rem: %d\n",
-	   ibufs_in, ibufs_rem); */
-
 }
 
 struct ImBuf * seq_stripelem_cache_get(
 	SeqRenderData context, struct Sequence * seq, 
 	float cfra, seq_stripelem_ibuf_t type)
 {
-	seqCacheKey key;
-	seqCacheEntry * e;
 
-	if (!seq) {
-		return NULL;
-	}
+	if(moviecache && seq) {
+		seqCacheKey key;
 
-	if (!entrypool) {
-		seq_stripelem_cache_init();
-	}
+		key.seq = seq;
+		key.context = context;
+		key.cfra = cfra - seq->start;
+		key.type = type;
 
-	key.seq = seq;
-	key.context = context;
-	key.cfra = cfra - seq->start;
-	key.type = type;
-	
-	e = (seqCacheEntry*) BLI_ghash_lookup(hash, &key);
-
-	if (e && e->ibuf) {
-		IMB_refImBuf(e->ibuf);
-
-		MEM_CacheLimiter_touch(e->c_handle);
-		return e->ibuf;
+		return IMB_moviecache_get(moviecache, &key);
 	}
+
 	return NULL;
 }
 
@@ -217,39 +127,21 @@ void seq_stripelem_cache_put(
 	SeqRenderData context, struct Sequence * seq, 
 	float cfra, seq_stripelem_ibuf_t type, struct ImBuf * i)
 {
-	seqCacheKey * key;
-	seqCacheEntry * e;
+	seqCacheKey key;
 
 	if (!i) {
 		return;
 	}
 
-	ibufs_in++;
-
-	if (!entrypool) {
-		seq_stripelem_cache_init();
+	if(!moviecache) {
+		moviecache = IMB_moviecache_create(sizeof(seqCacheKey), seqcache_hashhash,
+				seqcache_hashcmp, NULL);
 	}
 
-	key = (seqCacheKey*) BLI_mempool_alloc(keypool);
-
-	key->seq = seq;
-	key->context = context;
-	key->cfra = cfra - seq->start;
-	key->type = type;
-
-	IMB_refImBuf(i);
-
-	e = (seqCacheEntry*) BLI_mempool_alloc(entrypool);
-
-	e->ibuf = i;
-	e->c_handle = NULL;
-
-	BLI_ghash_remove(hash, key, HashKeyFree, HashValFree);
-	BLI_ghash_insert(hash, key, e);
-
-	e->c_handle = MEM_CacheLimiter_insert(limitor, e);
+	key.seq = seq;
+	key.context = context;
+	key.cfra = cfra - seq->start;
+	key.type = type;
 
-	MEM_CacheLimiter_ref(e->c_handle);
-	MEM_CacheLimiter_enforce_limits(limitor);
-	MEM_CacheLimiter_unref(e->c_handle);
+	IMB_moviecache_put(moviecache, &key, i);
 }
diff --git a/source/blender/blenkernel/intern/seqeffects.c b/source/blender/blenkernel/intern/seqeffects.c
index 943066537d5..3699cf40aa8 100644
--- a/source/blender/blenkernel/intern/seqeffects.c
+++ b/source/blender/blenkernel/intern/seqeffects.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/sequencer.c b/source/blender/blenkernel/intern/sequencer.c
index cf03a8d3f36..6b319e6b5e1 100644
--- a/source/blender/blenkernel/intern/sequencer.c
+++ b/source/blender/blenkernel/intern/sequencer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -1326,6 +1324,10 @@ static void seq_proxy_build_frame(SeqRenderData context,
 	quality = seq->strip->proxy->quality;
 	ibuf->ftype= JPG | quality;
 
+	/* unsupported feature only confuses other s/w */
+	if(ibuf->depth==32)
+		ibuf->depth= 24;
+
 	BLI_make_existing_file(name);
 	
 	ok = IMB_saveiff(ibuf, name, IB_rect | IB_zbuf | IB_zbuffloat);
@@ -2503,9 +2505,6 @@ static void *seq_prefetch_thread(void * This_)
 
 		for (e = prefetch_done.first; e; e = e->next) {
 			if (s_last > e->monoton_cfra) {
-				if (e->ibuf) {
-					IMB_cache_limiter_unref(e->ibuf);
-				}
 				BLI_remlink(&prefetch_done, e);
 				MEM_freeN(e);
 			}
@@ -2583,9 +2582,6 @@ static void seq_stop_threads()
 	}
 
 	for (e = prefetch_done.first; e; e = e->next) {
-		if (e->ibuf) {
-			IMB_cache_limiter_unref(e->ibuf);
-		}
 		BLI_remlink(&prefetch_done, e);
 		MEM_freeN(e);
 	}
diff --git a/source/blender/blenkernel/intern/shrinkwrap.c b/source/blender/blenkernel/intern/shrinkwrap.c
index d2d22aa213a..e47dcd68ce1 100644
--- a/source/blender/blenkernel/intern/shrinkwrap.c
+++ b/source/blender/blenkernel/intern/shrinkwrap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/sketch.c b/source/blender/blenkernel/intern/sketch.c
index a5afc0afda1..faf382f9ffc 100644
--- a/source/blender/blenkernel/intern/sketch.c
+++ b/source/blender/blenkernel/intern/sketch.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/smoke.c b/source/blender/blenkernel/intern/smoke.c
index c1833b39b8b..ac2a840c95a 100644
--- a/source/blender/blenkernel/intern/smoke.c
+++ b/source/blender/blenkernel/intern/smoke.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/softbody.c b/source/blender/blenkernel/intern/softbody.c
index cd147f4dbed..28925a7b170 100644
--- a/source/blender/blenkernel/intern/softbody.c
+++ b/source/blender/blenkernel/intern/softbody.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/sound.c b/source/blender/blenkernel/intern/sound.c
index 02e381fe9b4..ceaba2502d9 100644
--- a/source/blender/blenkernel/intern/sound.c
+++ b/source/blender/blenkernel/intern/sound.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/speaker.c b/source/blender/blenkernel/intern/speaker.c
index ae29230423f..fb6a473f04d 100644
--- a/source/blender/blenkernel/intern/speaker.c
+++ b/source/blender/blenkernel/intern/speaker.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -89,9 +87,7 @@ void make_local_speaker(Speaker *spk)
 
 	if(spk->id.lib==NULL) return;
 	if(spk->id.us==1) {
-		spk->id.lib= NULL;
-		spk->id.flag= LIB_LOCAL;
-		new_id(&bmain->speaker, (ID *)spk, NULL);
+		id_clear_lib_data(&bmain->speaker, (ID *)spk);
 		return;
 	}
 
@@ -105,9 +101,7 @@ void make_local_speaker(Speaker *spk)
 	}
 
 	if(local && lib==0) {
-		spk->id.lib= NULL;
-		spk->id.flag= LIB_LOCAL;
-		new_id(&bmain->speaker, (ID *)spk, NULL);
+		id_clear_lib_data(&bmain->speaker, (ID *)spk);
 	}
 	else if(local && lib) {
 		Speaker *spkn= copy_speaker(spk);
diff --git a/source/blender/blenkernel/intern/subsurf_ccg.c b/source/blender/blenkernel/intern/subsurf_ccg.c
index 0d9f27e4fa9..115b26452e1 100644
--- a/source/blender/blenkernel/intern/subsurf_ccg.c
+++ b/source/blender/blenkernel/intern/subsurf_ccg.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/suggestions.c b/source/blender/blenkernel/intern/suggestions.c
index 8a8bb6dd76a..48bc4926a85 100644
--- a/source/blender/blenkernel/intern/suggestions.c
+++ b/source/blender/blenkernel/intern/suggestions.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/text.c b/source/blender/blenkernel/intern/text.c
index b5fc76a8551..69af2570d0c 100644
--- a/source/blender/blenkernel/intern/text.c
+++ b/source/blender/blenkernel/intern/text.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/texture.c b/source/blender/blenkernel/intern/texture.c
index 7d720aed62c..b7fc2835f63 100644
--- a/source/blender/blenkernel/intern/texture.c
+++ b/source/blender/blenkernel/intern/texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -816,6 +814,10 @@ Tex *localize_texture(Tex *tex)
 
 /* ------------------------------------------------------------------------- */
 
+static void extern_local_texture(Tex *tex) {
+	id_lib_extern((ID *)tex->ima);
+}
+
 void make_local_texture(Tex *tex)
 {
 	Main *bmain= G.main;
@@ -834,18 +836,9 @@ void make_local_texture(Tex *tex)
 	
 	if(tex->id.lib==NULL) return;
 
-	/* special case: ima always local immediately */
-	if(tex->ima) {
-		tex->ima->id.lib= NULL;
-		tex->ima->id.flag= LIB_LOCAL;
-		new_id(&bmain->image, (ID *)tex->ima, NULL);
-	}
-
 	if(tex->id.us==1) {
-		tex->id.lib= NULL;
-		tex->id.flag= LIB_LOCAL;
-		new_id(&bmain->tex, (ID *)tex, NULL);
-
+		id_clear_lib_data(&bmain->tex, (ID *)tex);
+		extern_local_texture(tex);
 		return;
 	}
 	
@@ -899,9 +892,8 @@ void make_local_texture(Tex *tex)
 	}
 	
 	if(local && lib==0) {
-		tex->id.lib= NULL;
-		tex->id.flag= LIB_LOCAL;
-		new_id(&bmain->tex, (ID *)tex, NULL);
+		id_clear_lib_data(&bmain->tex, (ID *)tex);
+		extern_local_texture(tex);
 	}
 	else if(local && lib) {
 		texn= copy_texture(tex);
diff --git a/source/blender/blenkernel/intern/unit.c b/source/blender/blenkernel/intern/unit.c
index 8aeef0d84b1..01b090f2967 100644
--- a/source/blender/blenkernel/intern/unit.c
+++ b/source/blender/blenkernel/intern/unit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/world.c b/source/blender/blenkernel/intern/world.c
index 7d278f37cfb..150bf7157d9 100644
--- a/source/blender/blenkernel/intern/world.c
+++ b/source/blender/blenkernel/intern/world.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -162,9 +160,7 @@ void make_local_world(World *wrld)
 	
 	if(wrld->id.lib==NULL) return;
 	if(wrld->id.us==1) {
-		wrld->id.lib= NULL;
-		wrld->id.flag= LIB_LOCAL;
-		new_id(NULL, (ID *)wrld, NULL);
+		id_clear_lib_data(&bmain->world, (ID *)wrld);
 		return;
 	}
 	
@@ -176,9 +172,7 @@ void make_local_world(World *wrld)
 	}
 
 	if(local && lib==0) {
-		wrld->id.lib= NULL;
-		wrld->id.flag= LIB_LOCAL;
-		new_id(NULL, (ID *)wrld, NULL);
+		id_clear_lib_data(&bmain->world, (ID *)wrld);
 	}
 	else if(local && lib) {
 		World *wrldn= copy_world(wrld);
diff --git a/source/blender/blenkernel/intern/writeavi.c b/source/blender/blenkernel/intern/writeavi.c
index b989d44c391..03091a08c58 100644
--- a/source/blender/blenkernel/intern/writeavi.c
+++ b/source/blender/blenkernel/intern/writeavi.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenkernel/intern/writeffmpeg.c b/source/blender/blenkernel/intern/writeffmpeg.c
index 7b414f7746a..da1412dac0d 100644
--- a/source/blender/blenkernel/intern/writeffmpeg.c
+++ b/source/blender/blenkernel/intern/writeffmpeg.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * ffmpeg-write support
  *
@@ -397,6 +396,20 @@ static void set_ffmpeg_property_option(AVCodecContext* c, IDProperty * prop)
 	}
 }
 
+static int ffmpeg_proprty_valid(AVCodecContext *c, const char *prop_name, IDProperty *curr)
+{
+	int valid= 1;
+
+	if(strcmp(prop_name, "video")==0) {
+		if(strcmp(curr->name, "bf")==0) {
+			/* flash codec doesn't support b frames */
+			valid&= c->codec_id!=CODEC_ID_FLV1;
+		}
+	}
+
+	return valid;
+}
+
 static void set_ffmpeg_properties(RenderData *rd, AVCodecContext *c, const char * prop_name)
 {
 	IDProperty * prop;
@@ -415,7 +428,8 @@ static void set_ffmpeg_properties(RenderData *rd, AVCodecContext *c, const char
 	iter = IDP_GetGroupIterator(prop);
 
 	while ((curr = IDP_GroupIterNext(iter)) != NULL) {
-		set_ffmpeg_property_option(c, curr);
+		if(ffmpeg_proprty_valid(c, prop_name, curr))
+			set_ffmpeg_property_option(c, curr);
 	}
 }
 
@@ -1088,7 +1102,7 @@ IDProperty *ffmpeg_property_add(RenderData *rd, char * type, int opt_index, int
 		idp_type = IDP_FLOAT;
 		break;
 	case FF_OPT_TYPE_STRING:
-		val.str = "                                                                               ";
+		val.str = (char *)"                                                                               ";
 		idp_type = IDP_STRING;
 		break;
 	case FF_OPT_TYPE_CONST:
@@ -1188,6 +1202,9 @@ void ffmpeg_set_preset(RenderData *rd, int preset)
 {
 	int isntsc = (rd->frs_sec != 25);
 
+	if(rd->ffcodecdata.properties)
+		IDP_FreeProperty(rd->ffcodecdata.properties);
+
 	switch (preset) {
 	case FFMPEG_PRESET_VCD:
 		rd->ffcodecdata.type = FFMPEG_MPEG1;
@@ -1218,8 +1235,11 @@ void ffmpeg_set_preset(RenderData *rd, int preset)
 	case FFMPEG_PRESET_DVD:
 		rd->ffcodecdata.type = FFMPEG_MPEG2;
 		rd->ffcodecdata.video_bitrate = 6000;
-		rd->xsch = 720;
-		rd->ysch = isntsc ? 480 : 576;
+
+		/* Don't set resolution, see [#21351]
+		 * rd->xsch = 720;
+		 * rd->ysch = isntsc ? 480 : 576; */
+
 		rd->ffcodecdata.gop_size = isntsc ? 18 : 15;
 		rd->ffcodecdata.rc_max_rate = 9000;
 		rd->ffcodecdata.rc_min_rate = 0;
@@ -1322,8 +1342,8 @@ void ffmpeg_verify_image_type(RenderData *rd)
 		   rd->ffcodecdata.video_bitrate <= 1) {
 
 			rd->ffcodecdata.codec = CODEC_ID_MPEG2VIDEO;
-			/* Don't set preset, disturbs render resolution.
-			 * ffmpeg_set_preset(rd, FFMPEG_PRESET_DVD); */
+
+			ffmpeg_set_preset(rd, FFMPEG_PRESET_DVD);
 		}
 		if(rd->ffcodecdata.type == FFMPEG_OGG) {
 			rd->ffcodecdata.type = FFMPEG_MPEG2;
@@ -1357,4 +1377,3 @@ void ffmpeg_verify_image_type(RenderData *rd)
 }
 
 #endif
-
diff --git a/source/blender/blenkernel/intern/writeframeserver.c b/source/blender/blenkernel/intern/writeframeserver.c
index d42b952617f..ae65b913283 100644
--- a/source/blender/blenkernel/intern/writeframeserver.c
+++ b/source/blender/blenkernel/intern/writeframeserver.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * Frameserver
  * Makes Blender accessible from TMPGenc directly using VFAPI (you can
diff --git a/source/blender/blenkernel/nla_private.h b/source/blender/blenkernel/nla_private.h
index 2db288192cc..e287606921b 100644
--- a/source/blender/blenkernel/nla_private.h
+++ b/source/blender/blenkernel/nla_private.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_args.h b/source/blender/blenlib/BLI_args.h
index 4cdb35dd675..3b8b60be1b9 100644
--- a/source/blender/blenlib/BLI_args.h
+++ b/source/blender/blenlib/BLI_args.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_blenlib.h b/source/blender/blenlib/BLI_blenlib.h
index 356709d5ccd..515c2444e80 100644
--- a/source/blender/blenlib/BLI_blenlib.h
+++ b/source/blender/blenlib/BLI_blenlib.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_bpath.h b/source/blender/blenlib/BLI_bpath.h
index cfe5d7f2084..5774d90912e 100644
--- a/source/blender/blenlib/BLI_bpath.h
+++ b/source/blender/blenlib/BLI_bpath.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -38,6 +37,7 @@
 struct BPathIterator;
 struct ReportList;
 struct Main;
+struct ID;
 
 void			BLI_bpathIterator_init				(struct BPathIterator **bpi, struct Main *bmain, const char *basedir, const int flag);
 void			BLI_bpathIterator_free				(struct BPathIterator *bpi);
@@ -52,6 +52,13 @@ void			BLI_bpathIterator_getPath			(struct BPathIterator *bpi, char *path);
 void			BLI_bpathIterator_getPathExpanded	(struct BPathIterator *bpi, char *path_expanded);
 void			BLI_bpathIterator_setPath			(struct BPathIterator *bpi, const char *path);
 
+/* Function that does something with an ID's file path. Should return 1 if the
+   path has changed, and in that case, should write the result to pathOut. */
+typedef int (*bpath_visitor)(void *userdata, char *pathIn, char *pathOut);
+/* Executes 'visit' for each path associated with 'id'. */
+void bpath_traverse_id(struct ID *id, bpath_visitor visit, void *userdata);
+int bpath_relocate_visitor(void *oldbasepath, char *pathIn, char *pathOut);
+
 /* high level funcs */
 
 /* creates a text file with missing files if there are any */
diff --git a/source/blender/blenlib/BLI_callbacks.h b/source/blender/blenlib/BLI_callbacks.h
index b490317fdac..5322ce04a2e 100644
--- a/source/blender/blenlib/BLI_callbacks.h
+++ b/source/blender/blenlib/BLI_callbacks.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_cpu.h b/source/blender/blenlib/BLI_cpu.h
index addcf1273b3..de04a2a6cc6 100644
--- a/source/blender/blenlib/BLI_cpu.h
+++ b/source/blender/blenlib/BLI_cpu.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_dlrbTree.h b/source/blender/blenlib/BLI_dlrbTree.h
index 24c819ada55..cde2058b200 100644
--- a/source/blender/blenlib/BLI_dlrbTree.h
+++ b/source/blender/blenlib/BLI_dlrbTree.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_dynlib.h b/source/blender/blenlib/BLI_dynlib.h
index f269bedd639..d7c8706a7b8 100644
--- a/source/blender/blenlib/BLI_dynlib.h
+++ b/source/blender/blenlib/BLI_dynlib.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_dynstr.h b/source/blender/blenlib/BLI_dynstr.h
index 2cbc19f56f0..e27a315a023 100644
--- a/source/blender/blenlib/BLI_dynstr.h
+++ b/source/blender/blenlib/BLI_dynstr.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_edgehash.h b/source/blender/blenlib/BLI_edgehash.h
index 23ffdbae59b..283b52e06b9 100644
--- a/source/blender/blenlib/BLI_edgehash.h
+++ b/source/blender/blenlib/BLI_edgehash.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_editVert.h b/source/blender/blenlib/BLI_editVert.h
index ba745af5a0b..ad36f86ea0f 100644
--- a/source/blender/blenlib/BLI_editVert.h
+++ b/source/blender/blenlib/BLI_editVert.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_fileops.h b/source/blender/blenlib/BLI_fileops.h
index ebe231e2973..712429716a6 100644
--- a/source/blender/blenlib/BLI_fileops.h
+++ b/source/blender/blenlib/BLI_fileops.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_fileops_types.h b/source/blender/blenlib/BLI_fileops_types.h
index 58dcf1a5441..443ba654cb6 100644
--- a/source/blender/blenlib/BLI_fileops_types.h
+++ b/source/blender/blenlib/BLI_fileops_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_ghash.h b/source/blender/blenlib/BLI_ghash.h
index e4ef834822f..976519c281a 100644
--- a/source/blender/blenlib/BLI_ghash.h
+++ b/source/blender/blenlib/BLI_ghash.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_gsqueue.h b/source/blender/blenlib/BLI_gsqueue.h
index 572c54b7b7e..425ecb79899 100644
--- a/source/blender/blenlib/BLI_gsqueue.h
+++ b/source/blender/blenlib/BLI_gsqueue.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_heap.h b/source/blender/blenlib/BLI_heap.h
index 3038d026df9..0124c997d91 100644
--- a/source/blender/blenlib/BLI_heap.h
+++ b/source/blender/blenlib/BLI_heap.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_jitter.h b/source/blender/blenlib/BLI_jitter.h
index e0fea9306ff..f432a51de9f 100644
--- a/source/blender/blenlib/BLI_jitter.h
+++ b/source/blender/blenlib/BLI_jitter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_kdopbvh.h b/source/blender/blenlib/BLI_kdopbvh.h
index d0943408dc5..4daa27a5c72 100644
--- a/source/blender/blenlib/BLI_kdopbvh.h
+++ b/source/blender/blenlib/BLI_kdopbvh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_kdtree.h b/source/blender/blenlib/BLI_kdtree.h
index c607dae386f..9ffc64e8812 100644
--- a/source/blender/blenlib/BLI_kdtree.h
+++ b/source/blender/blenlib/BLI_kdtree.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_linklist.h b/source/blender/blenlib/BLI_linklist.h
index 95850c44ea1..6886dff0da3 100644
--- a/source/blender/blenlib/BLI_linklist.h
+++ b/source/blender/blenlib/BLI_linklist.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_listbase.h b/source/blender/blenlib/BLI_listbase.h
index 90556ea4b05..88ee79d7b97 100644
--- a/source/blender/blenlib/BLI_listbase.h
+++ b/source/blender/blenlib/BLI_listbase.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #ifndef BLI_LISTBASE_H
 #define BLI_LISTBASE_H
diff --git a/source/blender/blenlib/BLI_math.h b/source/blender/blenlib/BLI_math.h
index 890a5ee4018..1fe700492be 100644
--- a/source/blender/blenlib/BLI_math.h
+++ b/source/blender/blenlib/BLI_math.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_base.h b/source/blender/blenlib/BLI_math_base.h
index b5bab6f15be..204ec9b5159 100644
--- a/source/blender/blenlib/BLI_math_base.h
+++ b/source/blender/blenlib/BLI_math_base.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_color.h b/source/blender/blenlib/BLI_math_color.h
index a6a1238a064..0e33ee2be3f 100644
--- a/source/blender/blenlib/BLI_math_color.h
+++ b/source/blender/blenlib/BLI_math_color.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_geom.h b/source/blender/blenlib/BLI_math_geom.h
index 506e271071c..713466f13f8 100644
--- a/source/blender/blenlib/BLI_math_geom.h
+++ b/source/blender/blenlib/BLI_math_geom.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_inline.h b/source/blender/blenlib/BLI_math_inline.h
index 4309e6122df..83aeb6cb735 100644
--- a/source/blender/blenlib/BLI_math_inline.h
+++ b/source/blender/blenlib/BLI_math_inline.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h
index d6a8f0fb925..008d2ad49ce 100644
--- a/source/blender/blenlib/BLI_math_matrix.h
+++ b/source/blender/blenlib/BLI_math_matrix.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h
index d7ca03243df..aef1c4bb46c 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_math_vector.h b/source/blender/blenlib/BLI_math_vector.h
index a807a395b78..e259071a27a 100644
--- a/source/blender/blenlib/BLI_math_vector.h
+++ b/source/blender/blenlib/BLI_math_vector.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -94,6 +92,8 @@ MINLINE void madd_v3_v3v3fl(float r[3], const float a[3], const float b[3], floa
 MINLINE void madd_v3_v3v3v3(float r[3], const float a[3], const float b[3], const float c[3]);
 MINLINE void madd_v4_v4fl(float r[4], const float a[4], float f);
 
+MINLINE void negate_v2(float r[2]);
+MINLINE void negate_v2_v2(float r[2], const float a[2]);
 MINLINE void negate_v3(float r[3]);
 MINLINE void negate_v3_v3(float r[3], const float a[3]);
 MINLINE void negate_v4(float r[4]);
diff --git a/source/blender/blenlib/BLI_memarena.h b/source/blender/blenlib/BLI_memarena.h
index f6e919d8d65..ceb7b17f7ef 100644
--- a/source/blender/blenlib/BLI_memarena.h
+++ b/source/blender/blenlib/BLI_memarena.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/BLI_mempool.h b/source/blender/blenlib/BLI_mempool.h
index 56df71b5582..2a81966986f 100644
--- a/source/blender/blenlib/BLI_mempool.h
+++ b/source/blender/blenlib/BLI_mempool.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_noise.h b/source/blender/blenlib/BLI_noise.h
index bd88529b3dc..de2efb18216 100644
--- a/source/blender/blenlib/BLI_noise.h
+++ b/source/blender/blenlib/BLI_noise.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +24,7 @@
  *
  * ***** END GPL LICENSE BLOCK *****
  * 
-*/
+ */
 
 #ifndef BLI_NOISE_H
 #define BLI_NOISE_H
diff --git a/source/blender/blenlib/BLI_path_util.h b/source/blender/blenlib/BLI_path_util.h
index 82794e08fa0..dd4bc868ab0 100644
--- a/source/blender/blenlib/BLI_path_util.h
+++ b/source/blender/blenlib/BLI_path_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_pbvh.h b/source/blender/blenlib/BLI_pbvh.h
index 89dcf9bf02d..c25243a9d36 100644
--- a/source/blender/blenlib/BLI_pbvh.h
+++ b/source/blender/blenlib/BLI_pbvh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_rand.h b/source/blender/blenlib/BLI_rand.h
index eb6e71acded..7ce0031bcf9 100644
--- a/source/blender/blenlib/BLI_rand.h
+++ b/source/blender/blenlib/BLI_rand.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_rect.h b/source/blender/blenlib/BLI_rect.h
index 021ab636d5b..25b7f193105 100644
--- a/source/blender/blenlib/BLI_rect.h
+++ b/source/blender/blenlib/BLI_rect.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +24,7 @@
  *
  * ***** END GPL LICENSE BLOCK *****
  *
-*/
+ */
 
 #ifndef BLI_RECT_H
 #define BLI_RECT_H
diff --git a/source/blender/blenlib/BLI_scanfill.h b/source/blender/blenlib/BLI_scanfill.h
index 3cc6ebcc7da..8af98b2d348 100644
--- a/source/blender/blenlib/BLI_scanfill.h
+++ b/source/blender/blenlib/BLI_scanfill.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_string.h b/source/blender/blenlib/BLI_string.h
index 958f240e3a8..0cdb573c4c6 100644
--- a/source/blender/blenlib/BLI_string.h
+++ b/source/blender/blenlib/BLI_string.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_string_utf8.h b/source/blender/blenlib/BLI_string_utf8.h
index bcb641d79d8..69b5612b118 100644
--- a/source/blender/blenlib/BLI_string_utf8.h
+++ b/source/blender/blenlib/BLI_string_utf8.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_threads.h b/source/blender/blenlib/BLI_threads.h
index 5bf5423d312..00d8131d813 100644
--- a/source/blender/blenlib/BLI_threads.h
+++ b/source/blender/blenlib/BLI_threads.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/BLI_utildefines.h b/source/blender/blenlib/BLI_utildefines.h
index c1eed40de74..a6b4f2c9b92 100644
--- a/source/blender/blenlib/BLI_utildefines.h
+++ b/source/blender/blenlib/BLI_utildefines.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #ifndef BLI_UTILDEFINES_H
 #define BLI_UTILDEFINES_H
diff --git a/source/blender/blenlib/BLI_uvproject.h b/source/blender/blenlib/BLI_uvproject.h
index 54e2090aa50..d4a34a9e290 100644
--- a/source/blender/blenlib/BLI_uvproject.h
+++ b/source/blender/blenlib/BLI_uvproject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_vfontdata.h b/source/blender/blenlib/BLI_vfontdata.h
index 7a03c1c37fa..ef6608e2c25 100644
--- a/source/blender/blenlib/BLI_vfontdata.h
+++ b/source/blender/blenlib/BLI_vfontdata.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/BLI_winstuff.h b/source/blender/blenlib/BLI_winstuff.h
index e0c819c2dba..0eb2f86b668 100644
--- a/source/blender/blenlib/BLI_winstuff.h
+++ b/source/blender/blenlib/BLI_winstuff.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/CMakeLists.txt b/source/blender/blenlib/CMakeLists.txt
index 49d849bdf14..4711acbb600 100644
--- a/source/blender/blenlib/CMakeLists.txt
+++ b/source/blender/blenlib/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/PIL_time.h b/source/blender/blenlib/PIL_time.h
index 36ea43bef2d..0a777a80b2a 100644
--- a/source/blender/blenlib/PIL_time.h
+++ b/source/blender/blenlib/PIL_time.h
@@ -1,6 +1,5 @@
 /* 
  * Platform independent time functions.
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/BLI_args.c b/source/blender/blenlib/intern/BLI_args.c
index 00903aa42cd..04d5d57c239 100644
--- a/source/blender/blenlib/intern/BLI_args.c
+++ b/source/blender/blenlib/intern/BLI_args.c
@@ -1,7 +1,6 @@
 /*
  * A general argument parsing module
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/BLI_dynstr.c b/source/blender/blenlib/intern/BLI_dynstr.c
index e877e985d94..5cdadce7c01 100644
--- a/source/blender/blenlib/intern/BLI_dynstr.c
+++ b/source/blender/blenlib/intern/BLI_dynstr.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_ghash.c b/source/blender/blenlib/intern/BLI_ghash.c
index e34abaf15f9..080dc77fc06 100644
--- a/source/blender/blenlib/intern/BLI_ghash.c
+++ b/source/blender/blenlib/intern/BLI_ghash.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_heap.c b/source/blender/blenlib/intern/BLI_heap.c
index a0b71dbde0e..52365371421 100644
--- a/source/blender/blenlib/intern/BLI_heap.c
+++ b/source/blender/blenlib/intern/BLI_heap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_kdopbvh.c b/source/blender/blenlib/intern/BLI_kdopbvh.c
index 8e68d42456f..d1734151b4a 100644
--- a/source/blender/blenlib/intern/BLI_kdopbvh.c
+++ b/source/blender/blenlib/intern/BLI_kdopbvh.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_kdtree.c b/source/blender/blenlib/intern/BLI_kdtree.c
index c885e8c8a9c..3543b847f19 100644
--- a/source/blender/blenlib/intern/BLI_kdtree.c
+++ b/source/blender/blenlib/intern/BLI_kdtree.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_linklist.c b/source/blender/blenlib/intern/BLI_linklist.c
index 2de1689713e..a9b8cbb6467 100644
--- a/source/blender/blenlib/intern/BLI_linklist.c
+++ b/source/blender/blenlib/intern/BLI_linklist.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_memarena.c b/source/blender/blenlib/intern/BLI_memarena.c
index 6ce5621e30d..308fc6a61e6 100644
--- a/source/blender/blenlib/intern/BLI_memarena.c
+++ b/source/blender/blenlib/intern/BLI_memarena.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/BLI_mempool.c b/source/blender/blenlib/intern/BLI_mempool.c
index 84e6151abaa..b4dc5b73a65 100644
--- a/source/blender/blenlib/intern/BLI_mempool.c
+++ b/source/blender/blenlib/intern/BLI_mempool.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/DLRB_tree.c b/source/blender/blenlib/intern/DLRB_tree.c
index 590425a8f06..72743e38d4c 100644
--- a/source/blender/blenlib/intern/DLRB_tree.c
+++ b/source/blender/blenlib/intern/DLRB_tree.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/boxpack2d.c b/source/blender/blenlib/intern/boxpack2d.c
index 8c7e097d239..30bf69ba3b4 100644
--- a/source/blender/blenlib/intern/boxpack2d.c
+++ b/source/blender/blenlib/intern/boxpack2d.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/bpath.c b/source/blender/blenlib/intern/bpath.c
index 293f824c5fd..2884ea2743a 100644
--- a/source/blender/blenlib/intern/bpath.c
+++ b/source/blender/blenlib/intern/bpath.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -952,3 +951,60 @@ void findMissingFiles(Main *bmain, const char *str)
 
 	//XXX waitcursor( 0 );
 }
+
+/* Run a visitor on a string, replacing the contents of the string as needed. */
+static void rewrite_path(char *path, bpath_visitor visit, void *userdata) {
+	char pathOut[FILE_MAX];
+	if (visit(userdata, path, pathOut))
+		BLI_strncpy(path, pathOut, FILE_MAX);
+}
+
+/* Run visitor function 'visit' on all paths contained in 'id'. */
+void bpath_traverse_id(ID *id, bpath_visitor visit, void *userdata) {
+	Image *ima;
+
+	switch(GS(id->name)) {
+	case ID_IM:
+		ima = (Image*)id;
+		if (ELEM3(ima->source, IMA_SRC_FILE, IMA_SRC_MOVIE, IMA_SRC_SEQUENCE))
+			rewrite_path(ima->name, visit, userdata);
+		break;
+	case ID_OB:
+	case ID_SO:
+	case ID_TXT:
+	/* TODO: add other ID types e.g. object (modifiers) */
+	default:
+		/* Nothing to do for other IDs that don't contain file paths. */
+		break;
+	}
+}
+
+/* Rewrites a relative path to be relative to the main file - unless the path is
+   absolute, in which case it is not altered. */
+int bpath_relocate_visitor(void *oldbasepath_v, char *pathIn, char *pathOut) {
+	/* be sure there is low chance of the path being too short */
+	char filepath[(FILE_MAXDIR * 2) + FILE_MAXFILE];
+	char *oldbasepath = oldbasepath_v;
+
+	if (strncmp(oldbasepath, "//", 2) == 0) {
+		printf("Error: old base path '%s' is not absolute.\n", oldbasepath);
+		return 0;
+	}
+
+	/* Make referenced file absolute. This would be a side-effect of
+	   BLI_cleanup_file, but we do it explicitely so we know if it changed. */
+	BLI_strncpy(filepath, pathIn, FILE_MAX);
+	if (BLI_path_abs(filepath, oldbasepath)) {
+		/* Path was relative and is now absolute. Remap.
+		 * Important BLI_cleanup_dir runs before the path is made relative
+		 * because it wont work for paths that start with "//../" */
+		BLI_cleanup_file(G.main->name, filepath);
+		BLI_path_rel(filepath, G.main->name);
+		BLI_strncpy(pathOut, filepath, FILE_MAX);
+		return 1;
+	}
+	else {
+		/* Path was not relative to begin with. */
+		return 0;
+	}
+}
diff --git a/source/blender/blenlib/intern/callbacks.c b/source/blender/blenlib/intern/callbacks.c
index d28f794440f..7e063bc1a18 100644
--- a/source/blender/blenlib/intern/callbacks.c
+++ b/source/blender/blenlib/intern/callbacks.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/cpu.c b/source/blender/blenlib/intern/cpu.c
index 860a0cae2d1..0a805293a05 100644
--- a/source/blender/blenlib/intern/cpu.c
+++ b/source/blender/blenlib/intern/cpu.c
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/dynamiclist.h b/source/blender/blenlib/intern/dynamiclist.h
index 7b496a5fed5..83b5aac963c 100644
--- a/source/blender/blenlib/intern/dynamiclist.h
+++ b/source/blender/blenlib/intern/dynamiclist.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/dynlib.c b/source/blender/blenlib/intern/dynlib.c
index ae6589b6538..0bfa5e79eb8 100644
--- a/source/blender/blenlib/intern/dynlib.c
+++ b/source/blender/blenlib/intern/dynlib.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/edgehash.c b/source/blender/blenlib/intern/edgehash.c
index 5108d1bbbe1..65c5dffa33c 100644
--- a/source/blender/blenlib/intern/edgehash.c
+++ b/source/blender/blenlib/intern/edgehash.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/fileops.c b/source/blender/blenlib/intern/fileops.c
index fef102d8267..95b6a970b49 100644
--- a/source/blender/blenlib/intern/fileops.c
+++ b/source/blender/blenlib/intern/fileops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/freetypefont.c b/source/blender/blenlib/intern/freetypefont.c
index 7e5d03423e5..8f6100f1122 100644
--- a/source/blender/blenlib/intern/freetypefont.c
+++ b/source/blender/blenlib/intern/freetypefont.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/graph.c b/source/blender/blenlib/intern/graph.c
index 8b9cddcc1d1..6dd278ed777 100644
--- a/source/blender/blenlib/intern/graph.c
+++ b/source/blender/blenlib/intern/graph.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/gsqueue.c b/source/blender/blenlib/intern/gsqueue.c
index e6f27c78bf1..c0fa81475c0 100644
--- a/source/blender/blenlib/intern/gsqueue.c
+++ b/source/blender/blenlib/intern/gsqueue.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/jitter.c b/source/blender/blenlib/intern/jitter.c
index f0e81d6b5e9..ab33187ec4d 100644
--- a/source/blender/blenlib/intern/jitter.c
+++ b/source/blender/blenlib/intern/jitter.c
@@ -1,7 +1,6 @@
 /*
  * Jitter offset table
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/listbase.c b/source/blender/blenlib/intern/listbase.c
index 05f71e0c01f..52fd857d6e4 100644
--- a/source/blender/blenlib/intern/listbase.c
+++ b/source/blender/blenlib/intern/listbase.c
@@ -3,7 +3,6 @@
  * various string, file, list operations.
  *
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/math_base.c b/source/blender/blenlib/intern/math_base.c
index 3e18517f3e5..67c2a989582 100644
--- a/source/blender/blenlib/intern/math_base.c
+++ b/source/blender/blenlib/intern/math_base.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_base_inline.c b/source/blender/blenlib/intern/math_base_inline.c
index 2a2b1100fd9..ae3cba7e94f 100644
--- a/source/blender/blenlib/intern/math_base_inline.c
+++ b/source/blender/blenlib/intern/math_base_inline.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_color.c b/source/blender/blenlib/intern/math_color.c
index 93143eb7db3..2ef29c1ce94 100644
--- a/source/blender/blenlib/intern/math_color.c
+++ b/source/blender/blenlib/intern/math_color.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_geom.c b/source/blender/blenlib/intern/math_geom.c
index 8f025880a86..b79ae9f0042 100644
--- a/source/blender/blenlib/intern/math_geom.c
+++ b/source/blender/blenlib/intern/math_geom.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_geom_inline.c b/source/blender/blenlib/intern/math_geom_inline.c
index 41dce131c17..832ef5d15b6 100644
--- a/source/blender/blenlib/intern/math_geom_inline.c
+++ b/source/blender/blenlib/intern/math_geom_inline.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c
index 20c503de2c3..241ab62e175 100644
--- a/source/blender/blenlib/intern/math_matrix.c
+++ b/source/blender/blenlib/intern/math_matrix.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index ef286e1d102..51d12f5430e 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_vector.c b/source/blender/blenlib/intern/math_vector.c
index 7dbceff46e4..01c3e112cd8 100644
--- a/source/blender/blenlib/intern/math_vector.c
+++ b/source/blender/blenlib/intern/math_vector.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/math_vector_inline.c b/source/blender/blenlib/intern/math_vector_inline.c
index 13623d9a93a..c460b69679b 100644
--- a/source/blender/blenlib/intern/math_vector_inline.c
+++ b/source/blender/blenlib/intern/math_vector_inline.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -310,6 +308,18 @@ MINLINE void mul_v3_v3v3(float r[3], const float v1[3], const float v2[3])
 	r[2] = v1[2] * v2[2];
 }
 
+MINLINE void negate_v2(float r[3])
+{
+	r[0]= -r[0];
+	r[1]= -r[1];
+}
+
+MINLINE void negate_v2_v2(float r[2], const float a[2])
+{
+	r[0]= -a[0];
+	r[1]= -a[1];
+}
+
 MINLINE void negate_v3(float r[3])
 {
 	r[0]= -r[0];
diff --git a/source/blender/blenlib/intern/noise.c b/source/blender/blenlib/intern/noise.c
index 9efe8dc9739..e1a08de0dd8 100644
--- a/source/blender/blenlib/intern/noise.c
+++ b/source/blender/blenlib/intern/noise.c
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/path_util.c b/source/blender/blenlib/intern/path_util.c
index d28c1e29820..bc24415fd3f 100644
--- a/source/blender/blenlib/intern/path_util.c
+++ b/source/blender/blenlib/intern/path_util.c
@@ -1,6 +1,4 @@
 /*
- *  $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/pbvh.c b/source/blender/blenlib/intern/pbvh.c
index 57008af1812..9471f096682 100644
--- a/source/blender/blenlib/intern/pbvh.c
+++ b/source/blender/blenlib/intern/pbvh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/rand.c b/source/blender/blenlib/intern/rand.c
index 9bd540e46ea..b1b7ebed18e 100644
--- a/source/blender/blenlib/intern/rand.c
+++ b/source/blender/blenlib/intern/rand.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/rct.c b/source/blender/blenlib/intern/rct.c
index 31ae8adc2d4..3b9fd2e07f6 100644
--- a/source/blender/blenlib/intern/rct.c
+++ b/source/blender/blenlib/intern/rct.c
@@ -4,7 +4,6 @@
  * 
  * april 95
  * 
- * $Id$
  *
  * A minimalist lib for functions doing stuff with rectangle structs.
  *
diff --git a/source/blender/blenlib/intern/scanfill.c b/source/blender/blenlib/intern/scanfill.c
index b159106f748..4bd17fcf0b9 100644
--- a/source/blender/blenlib/intern/scanfill.c
+++ b/source/blender/blenlib/intern/scanfill.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/storage.c b/source/blender/blenlib/intern/storage.c
index b3caeb71822..86095e6b909 100644
--- a/source/blender/blenlib/intern/storage.c
+++ b/source/blender/blenlib/intern/storage.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/string.c b/source/blender/blenlib/intern/string.c
index db5d4dc99eb..3a66425a5de 100644
--- a/source/blender/blenlib/intern/string.c
+++ b/source/blender/blenlib/intern/string.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/string_utf8.c b/source/blender/blenlib/intern/string_utf8.c
index b4c58d3bab4..f8cdc3ec873 100644
--- a/source/blender/blenlib/intern/string_utf8.c
+++ b/source/blender/blenlib/intern/string_utf8.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -321,6 +319,8 @@ int BLI_str_utf8_size(const char *p)
 
     UTF8_COMPUTE (c, mask, len);
 
+	(void)mask; /* quiet warning */
+
 	return len;
 }
 
diff --git a/source/blender/blenlib/intern/threads.c b/source/blender/blenlib/intern/threads.c
index 097ad2bcd74..c049ab85546 100644
--- a/source/blender/blenlib/intern/threads.c
+++ b/source/blender/blenlib/intern/threads.c
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/blenlib/intern/time.c b/source/blender/blenlib/intern/time.c
index 5bc7ca3609c..d86d68f6195 100644
--- a/source/blender/blenlib/intern/time.c
+++ b/source/blender/blenlib/intern/time.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/uvproject.c b/source/blender/blenlib/intern/uvproject.c
index be7682a63d4..30625e7b34e 100644
--- a/source/blender/blenlib/intern/uvproject.c
+++ b/source/blender/blenlib/intern/uvproject.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/voxel.c b/source/blender/blenlib/intern/voxel.c
index 6d912be71d3..f6c8c634c8d 100644
--- a/source/blender/blenlib/intern/voxel.c
+++ b/source/blender/blenlib/intern/voxel.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenlib/intern/winstuff.c b/source/blender/blenlib/intern/winstuff.c
index 21ad0ff7253..d3e989c28ae 100644
--- a/source/blender/blenlib/intern/winstuff.c
+++ b/source/blender/blenlib/intern/winstuff.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_readfile.h b/source/blender/blenloader/BLO_readfile.h
index 2799b2165f0..1777979c3ab 100644
--- a/source/blender/blenloader/BLO_readfile.h
+++ b/source/blender/blenloader/BLO_readfile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_runtime.h b/source/blender/blenloader/BLO_runtime.h
index 0a3ceeefa78..573db5301bc 100644
--- a/source/blender/blenloader/BLO_runtime.h
+++ b/source/blender/blenloader/BLO_runtime.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_soundfile.h b/source/blender/blenloader/BLO_soundfile.h
index 9db299e0a9f..4c8d40b3e69 100644
--- a/source/blender/blenloader/BLO_soundfile.h
+++ b/source/blender/blenloader/BLO_soundfile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_sys_types.h b/source/blender/blenloader/BLO_sys_types.h
index 8c0996528c6..e7f7a7e23bc 100644
--- a/source/blender/blenloader/BLO_sys_types.h
+++ b/source/blender/blenloader/BLO_sys_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_undofile.h b/source/blender/blenloader/BLO_undofile.h
index c4465341d27..0e06cbd9041 100644
--- a/source/blender/blenloader/BLO_undofile.h
+++ b/source/blender/blenloader/BLO_undofile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/BLO_writefile.h b/source/blender/blenloader/BLO_writefile.h
index 5c41350a463..1ac5feef119 100644
--- a/source/blender/blenloader/BLO_writefile.h
+++ b/source/blender/blenloader/BLO_writefile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/CMakeLists.txt b/source/blender/blenloader/CMakeLists.txt
index ab00a8e90dd..9cf721738a7 100644
--- a/source/blender/blenloader/CMakeLists.txt
+++ b/source/blender/blenloader/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/intern/readblenentry.c b/source/blender/blenloader/intern/readblenentry.c
index 09e6dcd7bf9..3f08e2301a7 100644
--- a/source/blender/blenloader/intern/readblenentry.c
+++ b/source/blender/blenloader/intern/readblenentry.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index c93e1790669..45ab4a5cdaf 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -3428,6 +3426,9 @@ static void lib_link_mtface(FileData *fd, Mesh *me, MTFace *mtface, int totface)
 	MTFace *tf= mtface;
 	int i;
 
+	/* Add pseudo-references (not fake users!) to images used by texface. A
+	   little bogus; it would be better if each mesh consistently added one ref
+	   to each image it used. - z0r */
 	for (i=0; i<totface; i++, tf++) {
 		tf->tpage= newlibadr(fd, me->id.lib, tf->tpage);
 		if(tf->tpage && tf->tpage->id.us==0)
@@ -10463,7 +10464,6 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 			sce->gm.dome.warptext = sce->r.dometext;
 
 			//Stand Alone
-			sce->gm.fullscreen = sce->r.fullscreen;
 			sce->gm.xplay = sce->r.xplay;
 			sce->gm.yplay = sce->r.yplay;
 			sce->gm.freqplay = sce->r.freqplay;
@@ -12190,6 +12190,22 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 				}
 			}
 		}
+
+		{
+			/* Initialize BGE exit key to esc key */
+			Scene *scene;
+			for(scene= main->scene.first; scene; scene= scene->id.next) {
+				if (!scene->gm.exitkey)
+					scene->gm.exitkey = 218; //218 is the Blender key code for ESC
+			}
+		}
+
+		{
+			/* Initialize default values for collision masks */
+			Object *ob;
+			for(ob=main->object.first; ob; ob=ob->id.next)
+				ob->col_group = ob->col_mask = 1;
+		}
 	}
 
 	/* WATCH IT!!!: pointers from libdata have not been converted yet here! */
diff --git a/source/blender/blenloader/intern/readfile.h b/source/blender/blenloader/intern/readfile.h
index d4e42ccde16..fdb567a7dce 100644
--- a/source/blender/blenloader/intern/readfile.h
+++ b/source/blender/blenloader/intern/readfile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/intern/runtime.c b/source/blender/blenloader/intern/runtime.c
index 57cdce94b17..3f8a9807f18 100644
--- a/source/blender/blenloader/intern/runtime.c
+++ b/source/blender/blenloader/intern/runtime.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/intern/undofile.c b/source/blender/blenloader/intern/undofile.c
index 80c4127b214..03c5070c8f3 100644
--- a/source/blender/blenloader/intern/undofile.c
+++ b/source/blender/blenloader/intern/undofile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenloader/intern/writefile.c b/source/blender/blenloader/intern/writefile.c
index 45eaa6d0156..df5ed5a050c 100644
--- a/source/blender/blenloader/intern/writefile.c
+++ b/source/blender/blenloader/intern/writefile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenpluginapi/CMakeLists.txt b/source/blender/blenpluginapi/CMakeLists.txt
index 9d398291b85..3e40b5bb0e5 100644
--- a/source/blender/blenpluginapi/CMakeLists.txt
+++ b/source/blender/blenpluginapi/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenpluginapi/documentation.h b/source/blender/blenpluginapi/documentation.h
index 136306e9088..45e9ec7f2e4 100644
--- a/source/blender/blenpluginapi/documentation.h
+++ b/source/blender/blenpluginapi/documentation.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenpluginapi/floatpatch.h b/source/blender/blenpluginapi/floatpatch.h
index 22e956ab8f8..73fe35cad26 100644
--- a/source/blender/blenpluginapi/floatpatch.h
+++ b/source/blender/blenpluginapi/floatpatch.h
@@ -2,7 +2,6 @@
  *  \ingroup blpluginapi
  */
 /* Copyright (c) 1999, Not a Number / NeoGeo b.v. 
- * $Id$
  * 
  * All rights reserved.
  * 
diff --git a/source/blender/blenpluginapi/iff.h b/source/blender/blenpluginapi/iff.h
index d29853f7d15..6bd4e5bb2b0 100644
--- a/source/blender/blenpluginapi/iff.h
+++ b/source/blender/blenpluginapi/iff.h
@@ -2,7 +2,6 @@
  *  \ingroup blpluginapi
  */
 /* Copyright (c) 1999, Not a Number / NeoGeo b.v. 
- * $Id$
  * 
  * All rights reserved.
  * 
diff --git a/source/blender/blenpluginapi/intern/pluginapi.c b/source/blender/blenpluginapi/intern/pluginapi.c
index 6e1ab447659..67d404899b2 100644
--- a/source/blender/blenpluginapi/intern/pluginapi.c
+++ b/source/blender/blenpluginapi/intern/pluginapi.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/blenpluginapi/plugin.h b/source/blender/blenpluginapi/plugin.h
index 174fd54462a..65569560faf 100644
--- a/source/blender/blenpluginapi/plugin.h
+++ b/source/blender/blenpluginapi/plugin.h
@@ -2,7 +2,6 @@
  *  \ingroup blpluginapi
  */
 /* Copyright (c) 1999, Not a Number / NeoGeo b.v. 
- * $Id$
  * 
  * All rights reserved.
  * 
diff --git a/source/blender/blenpluginapi/util.h b/source/blender/blenpluginapi/util.h
index 9c6d4e8a4e5..156e758977d 100644
--- a/source/blender/blenpluginapi/util.h
+++ b/source/blender/blenpluginapi/util.h
@@ -2,7 +2,6 @@
  *  \ingroup blpluginapi
  */
 /* Copyright (c) 1999, Not a Number / NeoGeo b.v. 
- * $Id$
  * 
  * All rights reserved.
  * 
diff --git a/source/blender/collada/AnimationExporter.cpp b/source/blender/collada/AnimationExporter.cpp
index ae568e69936..b115a96cfa1 100644
--- a/source/blender/collada/AnimationExporter.cpp
+++ b/source/blender/collada/AnimationExporter.cpp
@@ -1,26 +1,24 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* Contributor(s): Chingiz Dyussenov, Arystanbek Dyussenov, Jan Diederich, Tod Liverseed.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Contributor(s): Chingiz Dyussenov, Arystanbek Dyussenov, Jan Diederich, Tod Liverseed.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 
 #include "GeometryExporter.h"
 #include "AnimationExporter.h"
diff --git a/source/blender/collada/AnimationExporter.h b/source/blender/collada/AnimationExporter.h
index d277dad8e8c..7f6c99b108f 100644
--- a/source/blender/collada/AnimationExporter.h
+++ b/source/blender/collada/AnimationExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/AnimationImporter.cpp b/source/blender/collada/AnimationImporter.cpp
index dec93c0ff63..9b4e47615f7 100644
--- a/source/blender/collada/AnimationImporter.cpp
+++ b/source/blender/collada/AnimationImporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/AnimationImporter.h b/source/blender/collada/AnimationImporter.h
index 77587114374..2c3165db122 100644
--- a/source/blender/collada/AnimationImporter.h
+++ b/source/blender/collada/AnimationImporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ArmatureExporter.cpp b/source/blender/collada/ArmatureExporter.cpp
index 431c67833f1..077a06ce6ca 100644
--- a/source/blender/collada/ArmatureExporter.cpp
+++ b/source/blender/collada/ArmatureExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ArmatureExporter.h b/source/blender/collada/ArmatureExporter.h
index 554a8a7cfe6..925e65c9b69 100644
--- a/source/blender/collada/ArmatureExporter.h
+++ b/source/blender/collada/ArmatureExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ArmatureImporter.cpp b/source/blender/collada/ArmatureImporter.cpp
index ae25d343d36..219cf47d857 100644
--- a/source/blender/collada/ArmatureImporter.cpp
+++ b/source/blender/collada/ArmatureImporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ArmatureImporter.h b/source/blender/collada/ArmatureImporter.h
index a197e612a87..cc8c3de57f0 100644
--- a/source/blender/collada/ArmatureImporter.h
+++ b/source/blender/collada/ArmatureImporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/CMakeLists.txt b/source/blender/collada/CMakeLists.txt
index 2ee34091fc9..58a65db0489 100644
--- a/source/blender/collada/CMakeLists.txt
+++ b/source/blender/collada/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 21789 2009-07-22 05:35:12Z kazanbas $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/CameraExporter.cpp b/source/blender/collada/CameraExporter.cpp
index 006d4c0ed23..6fa2c8763e0 100644
--- a/source/blender/collada/CameraExporter.cpp
+++ b/source/blender/collada/CameraExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/CameraExporter.h b/source/blender/collada/CameraExporter.h
index 8d08fe23f80..1b5898984ba 100644
--- a/source/blender/collada/CameraExporter.h
+++ b/source/blender/collada/CameraExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/DocumentExporter.cpp b/source/blender/collada/DocumentExporter.cpp
index d562e51b922..6e8abc08358 100644
--- a/source/blender/collada/DocumentExporter.cpp
+++ b/source/blender/collada/DocumentExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/DocumentExporter.h b/source/blender/collada/DocumentExporter.h
index 83724505efa..314ba2868e5 100644
--- a/source/blender/collada/DocumentExporter.h
+++ b/source/blender/collada/DocumentExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/DocumentImporter.cpp b/source/blender/collada/DocumentImporter.cpp
index c06867ca107..8d133979fa4 100644
--- a/source/blender/collada/DocumentImporter.cpp
+++ b/source/blender/collada/DocumentImporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/DocumentImporter.h b/source/blender/collada/DocumentImporter.h
index a347eed3e5a..96c587edc44 100644
--- a/source/blender/collada/DocumentImporter.h
+++ b/source/blender/collada/DocumentImporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/EffectExporter.cpp b/source/blender/collada/EffectExporter.cpp
index 6863e26a3ce..7ada149cde9 100644
--- a/source/blender/collada/EffectExporter.cpp
+++ b/source/blender/collada/EffectExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/EffectExporter.h b/source/blender/collada/EffectExporter.h
index 25d7ed15bc3..6b7caf439b7 100644
--- a/source/blender/collada/EffectExporter.h
+++ b/source/blender/collada/EffectExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ErrorHandler.cpp b/source/blender/collada/ErrorHandler.cpp
index 61c03ed673c..9ed8034a9a0 100644
--- a/source/blender/collada/ErrorHandler.cpp
+++ b/source/blender/collada/ErrorHandler.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ErrorHandler.h b/source/blender/collada/ErrorHandler.h
index 4064abb89f6..07eccb713e8 100644
--- a/source/blender/collada/ErrorHandler.h
+++ b/source/blender/collada/ErrorHandler.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExportSettings.cpp b/source/blender/collada/ExportSettings.cpp
index 19f1c05ddcf..9caede5659a 100644
--- a/source/blender/collada/ExportSettings.cpp
+++ b/source/blender/collada/ExportSettings.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExportSettings.h b/source/blender/collada/ExportSettings.h
index 2636ca88a23..1ad7c8c370e 100644
--- a/source/blender/collada/ExportSettings.h
+++ b/source/blender/collada/ExportSettings.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExtraHandler.cpp b/source/blender/collada/ExtraHandler.cpp
index 820665ad757..d6d3aa87cfd 100644
--- a/source/blender/collada/ExtraHandler.cpp
+++ b/source/blender/collada/ExtraHandler.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExtraHandler.h b/source/blender/collada/ExtraHandler.h
index 7296aaf1eb4..eb7d32bf91b 100644
--- a/source/blender/collada/ExtraHandler.h
+++ b/source/blender/collada/ExtraHandler.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExtraTags.cpp b/source/blender/collada/ExtraTags.cpp
index f0c6d2228b1..b1b1936e254 100644
--- a/source/blender/collada/ExtraTags.cpp
+++ b/source/blender/collada/ExtraTags.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ExtraTags.h b/source/blender/collada/ExtraTags.h
index 710d26e8cad..1655ff00677 100644
--- a/source/blender/collada/ExtraTags.h
+++ b/source/blender/collada/ExtraTags.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/GeometryExporter.cpp b/source/blender/collada/GeometryExporter.cpp
index 4892955fd3c..22a3b713161 100644
--- a/source/blender/collada/GeometryExporter.cpp
+++ b/source/blender/collada/GeometryExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/GeometryExporter.h b/source/blender/collada/GeometryExporter.h
index 532a439eba7..f6dc5a18449 100644
--- a/source/blender/collada/GeometryExporter.h
+++ b/source/blender/collada/GeometryExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ImageExporter.cpp b/source/blender/collada/ImageExporter.cpp
index ec3cc0fc984..3926cb48253 100644
--- a/source/blender/collada/ImageExporter.cpp
+++ b/source/blender/collada/ImageExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/ImageExporter.h b/source/blender/collada/ImageExporter.h
index 9e5767fd9d3..a2abc893a56 100644
--- a/source/blender/collada/ImageExporter.h
+++ b/source/blender/collada/ImageExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/InstanceWriter.cpp b/source/blender/collada/InstanceWriter.cpp
index a069e72fbbd..ceb4b295f2f 100644
--- a/source/blender/collada/InstanceWriter.cpp
+++ b/source/blender/collada/InstanceWriter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/InstanceWriter.h b/source/blender/collada/InstanceWriter.h
index 03be8d2426c..87ddc7fb1f7 100644
--- a/source/blender/collada/InstanceWriter.h
+++ b/source/blender/collada/InstanceWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/LightExporter.cpp b/source/blender/collada/LightExporter.cpp
index 3d5814cb6db..d74a1d1033d 100644
--- a/source/blender/collada/LightExporter.cpp
+++ b/source/blender/collada/LightExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/LightExporter.h b/source/blender/collada/LightExporter.h
index 6c52ed2b76d..0cfca914ef4 100644
--- a/source/blender/collada/LightExporter.h
+++ b/source/blender/collada/LightExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/MaterialExporter.cpp b/source/blender/collada/MaterialExporter.cpp
index 37c1a6f6b68..b66779953ef 100644
--- a/source/blender/collada/MaterialExporter.cpp
+++ b/source/blender/collada/MaterialExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/MaterialExporter.h b/source/blender/collada/MaterialExporter.h
index 97a1e27358f..eb7886c23b9 100644
--- a/source/blender/collada/MaterialExporter.h
+++ b/source/blender/collada/MaterialExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/MeshImporter.cpp b/source/blender/collada/MeshImporter.cpp
index a6757329ea1..4e7c35315fc 100644
--- a/source/blender/collada/MeshImporter.cpp
+++ b/source/blender/collada/MeshImporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/MeshImporter.h b/source/blender/collada/MeshImporter.h
index 208ba4d65c0..3bccc4ed04a 100644
--- a/source/blender/collada/MeshImporter.h
+++ b/source/blender/collada/MeshImporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/SceneExporter.cpp b/source/blender/collada/SceneExporter.cpp
index a561d18c6e3..5dd452faa41 100644
--- a/source/blender/collada/SceneExporter.cpp
+++ b/source/blender/collada/SceneExporter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/SceneExporter.h b/source/blender/collada/SceneExporter.h
index 919cba61ec0..de01eb6e459 100644
--- a/source/blender/collada/SceneExporter.h
+++ b/source/blender/collada/SceneExporter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/SkinInfo.cpp b/source/blender/collada/SkinInfo.cpp
index 1d890415ebe..99a4f024f77 100644
--- a/source/blender/collada/SkinInfo.cpp
+++ b/source/blender/collada/SkinInfo.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/SkinInfo.h b/source/blender/collada/SkinInfo.h
index 42cb7cd99eb..71b7c71fd90 100644
--- a/source/blender/collada/SkinInfo.h
+++ b/source/blender/collada/SkinInfo.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/TransformReader.cpp b/source/blender/collada/TransformReader.cpp
index fa14a548850..26049398c26 100644
--- a/source/blender/collada/TransformReader.cpp
+++ b/source/blender/collada/TransformReader.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/TransformReader.h b/source/blender/collada/TransformReader.h
index 3997d8bb1d7..e1409a9ced8 100644
--- a/source/blender/collada/TransformReader.h
+++ b/source/blender/collada/TransformReader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/TransformWriter.cpp b/source/blender/collada/TransformWriter.cpp
index 34d13a2184d..2b4864ec32b 100644
--- a/source/blender/collada/TransformWriter.cpp
+++ b/source/blender/collada/TransformWriter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/TransformWriter.h b/source/blender/collada/TransformWriter.h
index a0cda4c464f..917e26dac1a 100644
--- a/source/blender/collada/TransformWriter.h
+++ b/source/blender/collada/TransformWriter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada.cpp b/source/blender/collada/collada.cpp
index a0b3d0051b4..0731faceeed 100644
--- a/source/blender/collada/collada.cpp
+++ b/source/blender/collada/collada.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada.h b/source/blender/collada/collada.h
index 915a77354e3..b86f37b7af6 100644
--- a/source/blender/collada/collada.h
+++ b/source/blender/collada/collada.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada_internal.cpp b/source/blender/collada/collada_internal.cpp
index 27397c3008e..5d0e8d957b3 100644
--- a/source/blender/collada/collada_internal.cpp
+++ b/source/blender/collada/collada_internal.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada_internal.h b/source/blender/collada/collada_internal.h
index 70912dde457..5c3aa49b837 100644
--- a/source/blender/collada/collada_internal.h
+++ b/source/blender/collada/collada_internal.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada_utils.cpp b/source/blender/collada/collada_utils.cpp
index d85be814102..6a82446f035 100644
--- a/source/blender/collada/collada_utils.cpp
+++ b/source/blender/collada/collada_utils.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/collada/collada_utils.h b/source/blender/collada/collada_utils.h
index 06cf8259dac..b95e3bd2824 100644
--- a/source/blender/collada/collada_utils.h
+++ b/source/blender/collada/collada_utils.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/CMakeLists.txt b/source/blender/editors/CMakeLists.txt
index abda4f11a2c..16c0d4a2c79 100644
--- a/source/blender/editors/CMakeLists.txt
+++ b/source/blender/editors/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/animation/CMakeLists.txt b/source/blender/editors/animation/CMakeLists.txt
index 83fe91d6f76..0386af9776c 100644
--- a/source/blender/editors/animation/CMakeLists.txt
+++ b/source/blender/editors/animation/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/animation/keyingsets.c b/source/blender/editors/animation/keyingsets.c
index 95324554a06..3b65e777200 100644
--- a/source/blender/editors/animation/keyingsets.c
+++ b/source/blender/editors/animation/keyingsets.c
@@ -731,10 +731,10 @@ EnumPropertyItem *ANIM_keying_sets_enum_itemf (bContext *C, PointerRNA *UNUSED(p
 	 *	- these are listed in the order in which they were defined for the active scene
 	 */
 	if (scene->keyingsets.first) {
-		for (ks= scene->keyingsets.first; ks; ks= ks->next) {
+		for (ks= scene->keyingsets.first; ks; ks= ks->next, i++) {
 			if (ANIM_keyingset_context_ok_poll(C, ks)) {
 				item_tmp.identifier= item_tmp.name= ks->name;
-				item_tmp.value= i++;
+				item_tmp.value= i;
 				RNA_enum_item_add(&item, &totitem, &item_tmp);
 			}
 		}
@@ -745,11 +745,11 @@ EnumPropertyItem *ANIM_keying_sets_enum_itemf (bContext *C, PointerRNA *UNUSED(p
 	
 	/* builtin Keying Sets */
 	i= -1;
-	for (ks= builtin_keyingsets.first; ks; ks= ks->next) {
+	for (ks= builtin_keyingsets.first; ks; ks= ks->next, i--) {
 		/* only show KeyingSet if context is suitable */
 		if (ANIM_keyingset_context_ok_poll(C, ks)) {
 			item_tmp.identifier= item_tmp.name= ks->name;
-			item_tmp.value= i--;
+			item_tmp.value= i;
 			RNA_enum_item_add(&item, &totitem, &item_tmp);
 		}
 	}
diff --git a/source/blender/editors/armature/BIF_generate.h b/source/blender/editors/armature/BIF_generate.h
index 0614bd26c00..311b110a3f6 100644
--- a/source/blender/editors/armature/BIF_generate.h
+++ b/source/blender/editors/armature/BIF_generate.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/BIF_retarget.h b/source/blender/editors/armature/BIF_retarget.h
index e0604f3cefb..ad3d3555250 100644
--- a/source/blender/editors/armature/BIF_retarget.h
+++ b/source/blender/editors/armature/BIF_retarget.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/CMakeLists.txt b/source/blender/editors/armature/CMakeLists.txt
index 7ecbdc9ebe5..8c1243ee300 100644
--- a/source/blender/editors/armature/CMakeLists.txt
+++ b/source/blender/editors/armature/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/editarmature_generate.c b/source/blender/editors/armature/editarmature_generate.c
index 17bd43ff2d8..3d020067700 100644
--- a/source/blender/editors/armature/editarmature_generate.c
+++ b/source/blender/editors/armature/editarmature_generate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/editarmature_retarget.c b/source/blender/editors/armature/editarmature_retarget.c
index 14891826260..6f1da5757c6 100644
--- a/source/blender/editors/armature/editarmature_retarget.c
+++ b/source/blender/editors/armature/editarmature_retarget.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/editarmature_sketch.c b/source/blender/editors/armature/editarmature_sketch.c
index bcd9d746a44..31be1efdc1f 100644
--- a/source/blender/editors/armature/editarmature_sketch.c
+++ b/source/blender/editors/armature/editarmature_sketch.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/meshlaplacian.c b/source/blender/editors/armature/meshlaplacian.c
index 6c721660e9c..53d0141f44d 100644
--- a/source/blender/editors/armature/meshlaplacian.c
+++ b/source/blender/editors/armature/meshlaplacian.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/meshlaplacian.h b/source/blender/editors/armature/meshlaplacian.h
index 45c539b8ef5..6ec67997d24 100644
--- a/source/blender/editors/armature/meshlaplacian.h
+++ b/source/blender/editors/armature/meshlaplacian.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/reeb.c b/source/blender/editors/armature/reeb.c
index 78c9e601d87..0b214e48b6a 100644
--- a/source/blender/editors/armature/reeb.c
+++ b/source/blender/editors/armature/reeb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/armature/reeb.h b/source/blender/editors/armature/reeb.h
index 3ef33c4e2c4..0080bbec120 100644
--- a/source/blender/editors/armature/reeb.h
+++ b/source/blender/editors/armature/reeb.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/CMakeLists.txt b/source/blender/editors/curve/CMakeLists.txt
index 9bad02eca1f..25df17d232a 100644
--- a/source/blender/editors/curve/CMakeLists.txt
+++ b/source/blender/editors/curve/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/curve_intern.h b/source/blender/editors/curve/curve_intern.h
index 63ba8ded7e6..2557c7f7c72 100644
--- a/source/blender/editors/curve/curve_intern.h
+++ b/source/blender/editors/curve/curve_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/curve_ops.c b/source/blender/editors/curve/curve_ops.c
index 6b85523ac82..be6b322e6b4 100644
--- a/source/blender/editors/curve/curve_ops.c
+++ b/source/blender/editors/curve/curve_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/editcurve.c b/source/blender/editors/curve/editcurve.c
index 0a05086a3a4..4087002598e 100644
--- a/source/blender/editors/curve/editcurve.c
+++ b/source/blender/editors/curve/editcurve.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/editfont.c b/source/blender/editors/curve/editfont.c
index c80f5c85c25..1ac920b048a 100644
--- a/source/blender/editors/curve/editfont.c
+++ b/source/blender/editors/curve/editfont.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/curve/lorem.c b/source/blender/editors/curve/lorem.c
index bd65cdddec4..66b358e04e5 100644
--- a/source/blender/editors/curve/lorem.c
+++ b/source/blender/editors/curve/lorem.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/datafiles/Bfont.c b/source/blender/editors/datafiles/Bfont.c
index 6f8adae5f3f..8a9e2748983 100644
--- a/source/blender/editors/datafiles/Bfont.c
+++ b/source/blender/editors/datafiles/Bfont.c
@@ -1,6 +1,5 @@
 /* DataToC output of file <Bfont> */
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/datafiles/CMakeLists.txt b/source/blender/editors/datafiles/CMakeLists.txt
index 17e3a868a8c..ae24456383b 100644
--- a/source/blender/editors/datafiles/CMakeLists.txt
+++ b/source/blender/editors/datafiles/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/gpencil/CMakeLists.txt b/source/blender/editors/gpencil/CMakeLists.txt
index b312f397939..15707bfc4d0 100644
--- a/source/blender/editors/gpencil/CMakeLists.txt
+++ b/source/blender/editors/gpencil/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/gpencil/gpencil_undo.c b/source/blender/editors/gpencil/gpencil_undo.c
index 1154975e3cc..1ab00082043 100644
--- a/source/blender/editors/gpencil/gpencil_undo.c
+++ b/source/blender/editors/gpencil/gpencil_undo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/BIF_gl.h b/source/blender/editors/include/BIF_gl.h
index 873b4e52a20..940a5866fcd 100644
--- a/source/blender/editors/include/BIF_gl.h
+++ b/source/blender/editors/include/BIF_gl.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/BIF_glutil.h b/source/blender/editors/include/BIF_glutil.h
index 27bd31c20ff..cd3d87a8979 100644
--- a/source/blender/editors/include/BIF_glutil.h
+++ b/source/blender/editors/include/BIF_glutil.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_armature.h b/source/blender/editors/include/ED_armature.h
index b73684d43d8..121c53f7c65 100644
--- a/source/blender/editors/include/ED_armature.h
+++ b/source/blender/editors/include/ED_armature.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_curve.h b/source/blender/editors/include/ED_curve.h
index b4782a5919b..1f9b034b2e5 100644
--- a/source/blender/editors/include/ED_curve.h
+++ b/source/blender/editors/include/ED_curve.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_datafiles.h b/source/blender/editors/include/ED_datafiles.h
index ee29df3fffb..a31d01358f4 100644
--- a/source/blender/editors/include/ED_datafiles.h
+++ b/source/blender/editors/include/ED_datafiles.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_fileselect.h b/source/blender/editors/include/ED_fileselect.h
index df4113ca07a..dc362f9f99b 100644
--- a/source/blender/editors/include/ED_fileselect.h
+++ b/source/blender/editors/include/ED_fileselect.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_fluidsim.h b/source/blender/editors/include/ED_fluidsim.h
index 3388280e5fa..f48b5df56c0 100644
--- a/source/blender/editors/include/ED_fluidsim.h
+++ b/source/blender/editors/include/ED_fluidsim.h
@@ -1,7 +1,6 @@
 /*
  * BKE_fluidsim.h 
  *	
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/include/ED_image.h b/source/blender/editors/include/ED_image.h
index cfe9ea53d9a..4e8aadecfc7 100644
--- a/source/blender/editors/include/ED_image.h
+++ b/source/blender/editors/include/ED_image.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_info.h b/source/blender/editors/include/ED_info.h
index c76c478c6d6..7044ab63cad 100644
--- a/source/blender/editors/include/ED_info.h
+++ b/source/blender/editors/include/ED_info.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_lattice.h b/source/blender/editors/include/ED_lattice.h
index 066dd23a629..15e5c3dba8f 100644
--- a/source/blender/editors/include/ED_lattice.h
+++ b/source/blender/editors/include/ED_lattice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_logic.h b/source/blender/editors/include/ED_logic.h
index 00fc6ccac26..e6026eb5fee 100644
--- a/source/blender/editors/include/ED_logic.h
+++ b/source/blender/editors/include/ED_logic.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_mball.h b/source/blender/editors/include/ED_mball.h
index 2afc3155398..259004864fb 100644
--- a/source/blender/editors/include/ED_mball.h
+++ b/source/blender/editors/include/ED_mball.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_mesh.h b/source/blender/editors/include/ED_mesh.h
index 9709979ff6a..5d1e02a6cab 100644
--- a/source/blender/editors/include/ED_mesh.h
+++ b/source/blender/editors/include/ED_mesh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_node.h b/source/blender/editors/include/ED_node.h
index 1cbf45960d3..b6cb59e2f4a 100644
--- a/source/blender/editors/include/ED_node.h
+++ b/source/blender/editors/include/ED_node.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_numinput.h b/source/blender/editors/include/ED_numinput.h
index d605a9b3377..e2387c3e9dd 100644
--- a/source/blender/editors/include/ED_numinput.h
+++ b/source/blender/editors/include/ED_numinput.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_object.h b/source/blender/editors/include/ED_object.h
index b451e278d47..4e0f59afc15 100644
--- a/source/blender/editors/include/ED_object.h
+++ b/source/blender/editors/include/ED_object.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_particle.h b/source/blender/editors/include/ED_particle.h
index f2973d0d070..48232acf562 100644
--- a/source/blender/editors/include/ED_particle.h
+++ b/source/blender/editors/include/ED_particle.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/include/ED_physics.h b/source/blender/editors/include/ED_physics.h
index c58e70a0768..eadd1566671 100644
--- a/source/blender/editors/include/ED_physics.h
+++ b/source/blender/editors/include/ED_physics.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/include/ED_screen.h b/source/blender/editors/include/ED_screen.h
index f2ef4e16852..f92ee724f6f 100644
--- a/source/blender/editors/include/ED_screen.h
+++ b/source/blender/editors/include/ED_screen.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_screen_types.h b/source/blender/editors/include/ED_screen_types.h
index 71e3780fe24..544d366c926 100644
--- a/source/blender/editors/include/ED_screen_types.h
+++ b/source/blender/editors/include/ED_screen_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_sculpt.h b/source/blender/editors/include/ED_sculpt.h
index 85a8d8945bb..7993e11ea55 100644
--- a/source/blender/editors/include/ED_sculpt.h
+++ b/source/blender/editors/include/ED_sculpt.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_sequencer.h b/source/blender/editors/include/ED_sequencer.h
index 5be1403c97b..da2fce2596b 100644
--- a/source/blender/editors/include/ED_sequencer.h
+++ b/source/blender/editors/include/ED_sequencer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_sound.h b/source/blender/editors/include/ED_sound.h
index 3c6b12da076..a4e90094e19 100644
--- a/source/blender/editors/include/ED_sound.h
+++ b/source/blender/editors/include/ED_sound.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_space_api.h b/source/blender/editors/include/ED_space_api.h
index 053b1d4fd9c..5c42dfc5d05 100644
--- a/source/blender/editors/include/ED_space_api.h
+++ b/source/blender/editors/include/ED_space_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_text.h b/source/blender/editors/include/ED_text.h
index bc8c9958e18..da01e25f4d9 100644
--- a/source/blender/editors/include/ED_text.h
+++ b/source/blender/editors/include/ED_text.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_transform.h b/source/blender/editors/include/ED_transform.h
index 00ae7dda2e3..c644b1d27b4 100644
--- a/source/blender/editors/include/ED_transform.h
+++ b/source/blender/editors/include/ED_transform.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_types.h b/source/blender/editors/include/ED_types.h
index c1c31372011..6ea45c995c9 100644
--- a/source/blender/editors/include/ED_types.h
+++ b/source/blender/editors/include/ED_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_util.h b/source/blender/editors/include/ED_util.h
index 5e004fd8d47..c08e5eabbd3 100644
--- a/source/blender/editors/include/ED_util.h
+++ b/source/blender/editors/include/ED_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_uvedit.h b/source/blender/editors/include/ED_uvedit.h
index f6106e62533..2b4c213bc52 100644
--- a/source/blender/editors/include/ED_uvedit.h
+++ b/source/blender/editors/include/ED_uvedit.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/ED_view3d.h b/source/blender/editors/include/ED_view3d.h
index d574ddd3030..f69abb0996a 100644
--- a/source/blender/editors/include/ED_view3d.h
+++ b/source/blender/editors/include/ED_view3d.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/UI_icons.h b/source/blender/editors/include/UI_icons.h
index f8d0b819ac1..8cb37ab337d 100644
--- a/source/blender/editors/include/UI_icons.h
+++ b/source/blender/editors/include/UI_icons.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/UI_interface.h b/source/blender/editors/include/UI_interface.h
index 5e9e7c65f83..a7ced565403 100644
--- a/source/blender/editors/include/UI_interface.h
+++ b/source/blender/editors/include/UI_interface.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/UI_interface_icons.h b/source/blender/editors/include/UI_interface_icons.h
index 54400accbc2..e9c213dec35 100644
--- a/source/blender/editors/include/UI_interface_icons.h
+++ b/source/blender/editors/include/UI_interface_icons.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/include/UI_resources.h b/source/blender/editors/include/UI_resources.h
index ab5b8e8aff3..9c46a5d28de 100644
--- a/source/blender/editors/include/UI_resources.h
+++ b/source/blender/editors/include/UI_resources.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/include/UI_view2d.h b/source/blender/editors/include/UI_view2d.h
index 1aadb63181d..7ff27a5bbde 100644
--- a/source/blender/editors/include/UI_view2d.h
+++ b/source/blender/editors/include/UI_view2d.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/CMakeLists.txt b/source/blender/editors/interface/CMakeLists.txt
index 678be82f160..8ba86673f87 100644
--- a/source/blender/editors/interface/CMakeLists.txt
+++ b/source/blender/editors/interface/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface.c b/source/blender/editors/interface/interface.c
index f9991079507..5b27fe88b4b 100644
--- a/source/blender/editors/interface/interface.c
+++ b/source/blender/editors/interface/interface.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_anim.c b/source/blender/editors/interface/interface_anim.c
index aeb8ad99dd2..1edd43d4e01 100644
--- a/source/blender/editors/interface/interface_anim.c
+++ b/source/blender/editors/interface/interface_anim.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_draw.c b/source/blender/editors/interface/interface_draw.c
index aefe773fdad..3d08e761090 100644
--- a/source/blender/editors/interface/interface_draw.c
+++ b/source/blender/editors/interface/interface_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_handlers.c b/source/blender/editors/interface/interface_handlers.c
index 9f77317292c..e49cb4898d9 100644
--- a/source/blender/editors/interface/interface_handlers.c
+++ b/source/blender/editors/interface/interface_handlers.c
@@ -1437,8 +1437,11 @@ static void ui_textedit_set_cursor_select(uiBut *but, uiHandleButtonData *data,
 	ui_check_but(but);
 }
 
-/* note: utf8 & ascii funcs should be merged */
-static int ui_textedit_type_utf8(uiBut *but, uiHandleButtonData *data, const char utf8_buf[6])
+/* this is used for both utf8 and ascii, its meant to be used for single keys,
+ * notie the buffer is either copied or not, so its not suitable for pasting in
+ * - campbell */
+static int ui_textedit_type_buf(uiBut *but, uiHandleButtonData *data,
+                                const char *utf8_buf, int utf8_buf_len)
 {
 	char *str;
 	int len, changed= 0;
@@ -1447,7 +1450,7 @@ static int ui_textedit_type_utf8(uiBut *but, uiHandleButtonData *data, const cha
 	len= strlen(str);
 
 	if(len-(but->selend - but->selsta)+1 <= data->maxlen) {
-		int step= BLI_str_utf8_size(utf8_buf);
+		int step= utf8_buf_len;
 
 		/* type over the current selection */
 		if ((but->selend - but->selsta) > 0) {
@@ -1468,8 +1471,17 @@ static int ui_textedit_type_utf8(uiBut *but, uiHandleButtonData *data, const cha
 
 static int ui_textedit_type_ascii(uiBut *but, uiHandleButtonData *data, char ascii)
 {
-	char utf8_buf[6]= {ascii, '\0'};
-	return ui_textedit_type_utf8(but, data, utf8_buf);
+	char buf[2]= {ascii, '\0'};
+
+	if (ui_is_but_utf8(but) && (BLI_str_utf8_size(buf) == -1)) {
+		printf("%s: entering invalid ascii char into an ascii key (%d)\n",
+		       __func__, (int)(unsigned char)ascii);
+
+		return 0;
+	}
+
+	/* in some cases we want to allow invalid utf8 chars */
+	return ui_textedit_type_buf(but, data, buf, 1);
 }
 
 static void ui_textedit_move(uiBut *but, uiHandleButtonData *data, int direction, int select, uiButtonJumpType jump)
@@ -1932,18 +1944,26 @@ static void ui_do_but_textedit(bContext *C, uiBlock *block, uiBut *but, uiHandle
 
 		if((event->ascii || event->utf8_buf[0]) && (retval == WM_UI_HANDLER_CONTINUE)) {
 			char ascii = event->ascii;
+			const char *utf8_buf= event->utf8_buf;
 
 			/* exception that's useful for number buttons, some keyboard
 			   numpads have a comma instead of a period */
-			if(ELEM3(but->type, NUM, NUMABS, NUMSLI))
-				if(event->type == PADPERIOD && ascii == ',')
+			if(ELEM3(but->type, NUM, NUMABS, NUMSLI)) { /* could use data->min*/
+				if(event->type == PADPERIOD && ascii == ',') {
 					ascii = '.';
+					utf8_buf= NULL; /* force ascii fallback */
+				}
+			}
 
-			if(event->utf8_buf[0]) {
+			if(utf8_buf && utf8_buf[0]) {
+				int utf8_buf_len= BLI_str_utf8_size(utf8_buf);
 				/* keep this printf until utf8 is well tested */
-				printf("%s: utf8 char '%s'\n", __func__, event->utf8_buf);
-				// strcpy(event->utf8_buf, "12345");
-				changed= ui_textedit_type_utf8(but, data, event->utf8_buf);
+				if (utf8_buf_len != 1) {
+					printf("%s: utf8 char '%.*s'\n", __func__, utf8_buf_len, utf8_buf);
+				}
+
+				// strcpy(utf8_buf, "12345");
+				changed= ui_textedit_type_buf(but, data, event->utf8_buf, utf8_buf_len);
 			}
 			else {
 				changed= ui_textedit_type_ascii(but, data, ascii);
diff --git a/source/blender/editors/interface/interface_icons.c b/source/blender/editors/interface/interface_icons.c
index f987aa9c4e6..39f6cb7b0c2 100644
--- a/source/blender/editors/interface/interface_icons.c
+++ b/source/blender/editors/interface/interface_icons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_intern.h b/source/blender/editors/interface/interface_intern.h
index 9d0383c8812..9c5fafaf167 100644
--- a/source/blender/editors/interface/interface_intern.h
+++ b/source/blender/editors/interface/interface_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_layout.c b/source/blender/editors/interface/interface_layout.c
index be6c89eb37d..add023c940b 100644
--- a/source/blender/editors/interface/interface_layout.c
+++ b/source/blender/editors/interface/interface_layout.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_ops.c b/source/blender/editors/interface/interface_ops.c
index eee771cbd93..27f94ae8e49 100644
--- a/source/blender/editors/interface/interface_ops.c
+++ b/source/blender/editors/interface/interface_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_panel.c b/source/blender/editors/interface/interface_panel.c
index 546f4f0b639..9a253952e6d 100644
--- a/source/blender/editors/interface/interface_panel.c
+++ b/source/blender/editors/interface/interface_panel.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_style.c b/source/blender/editors/interface/interface_style.c
index 92d02ff3dc2..0e9dbaf3022 100644
--- a/source/blender/editors/interface/interface_style.c
+++ b/source/blender/editors/interface/interface_style.c
@@ -1,5 +1,5 @@
 /*
-* ***** BEGIN GPL LICENSE BLOCK *****
+ * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
diff --git a/source/blender/editors/interface/interface_templates.c b/source/blender/editors/interface/interface_templates.c
index 34f9849fac7..b816d1a8f9c 100644
--- a/source/blender/editors/interface/interface_templates.c
+++ b/source/blender/editors/interface/interface_templates.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/interface_widgets.c b/source/blender/editors/interface/interface_widgets.c
index 0215cc05d36..c5ac4f5aa88 100644
--- a/source/blender/editors/interface/interface_widgets.c
+++ b/source/blender/editors/interface/interface_widgets.c
@@ -1,5 +1,5 @@
 /*
-* ***** BEGIN GPL LICENSE BLOCK *****
+ * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
diff --git a/source/blender/editors/interface/resources.c b/source/blender/editors/interface/resources.c
index 61936fba931..d3a5c6691ef 100644
--- a/source/blender/editors/interface/resources.c
+++ b/source/blender/editors/interface/resources.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/view2d.c b/source/blender/editors/interface/view2d.c
index 18db1c8c894..5e97e01aed6 100644
--- a/source/blender/editors/interface/view2d.c
+++ b/source/blender/editors/interface/view2d.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/interface/view2d_ops.c b/source/blender/editors/interface/view2d_ops.c
index 30ae69b71b8..998e70d5e25 100644
--- a/source/blender/editors/interface/view2d_ops.c
+++ b/source/blender/editors/interface/view2d_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/CMakeLists.txt b/source/blender/editors/mesh/CMakeLists.txt
index f45f706b892..7849b71307b 100644
--- a/source/blender/editors/mesh/CMakeLists.txt
+++ b/source/blender/editors/mesh/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editface.c b/source/blender/editors/mesh/editface.c
index ab62c88deaa..279657e71c2 100644
--- a/source/blender/editors/mesh/editface.c
+++ b/source/blender/editors/mesh/editface.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh.c b/source/blender/editors/mesh/editmesh.c
index 6a263fca915..85ac87d8bcb 100644
--- a/source/blender/editors/mesh/editmesh.c
+++ b/source/blender/editors/mesh/editmesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh_add.c b/source/blender/editors/mesh/editmesh_add.c
index 98cca08fd7a..64fa322f2a5 100644
--- a/source/blender/editors/mesh/editmesh_add.c
+++ b/source/blender/editors/mesh/editmesh_add.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh_lib.c b/source/blender/editors/mesh/editmesh_lib.c
index 8945cac428b..0c0163d0f24 100644
--- a/source/blender/editors/mesh/editmesh_lib.c
+++ b/source/blender/editors/mesh/editmesh_lib.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh_loop.c b/source/blender/editors/mesh/editmesh_loop.c
index acbe5ef2144..a671de71636 100644
--- a/source/blender/editors/mesh/editmesh_loop.c
+++ b/source/blender/editors/mesh/editmesh_loop.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh_mods.c b/source/blender/editors/mesh/editmesh_mods.c
index 3f9d793cd70..004b98e5dd7 100644
--- a/source/blender/editors/mesh/editmesh_mods.c
+++ b/source/blender/editors/mesh/editmesh_mods.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/editmesh_tools.c b/source/blender/editors/mesh/editmesh_tools.c
index 40d3ccb015c..5455bf966ef 100644
--- a/source/blender/editors/mesh/editmesh_tools.c
+++ b/source/blender/editors/mesh/editmesh_tools.c
@@ -1,5 +1,4 @@
- /* $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/loopcut.c b/source/blender/editors/mesh/loopcut.c
index 0ec356a88ae..9bbfea1291f 100644
--- a/source/blender/editors/mesh/loopcut.c
+++ b/source/blender/editors/mesh/loopcut.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/mesh_data.c b/source/blender/editors/mesh/mesh_data.c
index ef52d9be0c3..ed890fd9b90 100644
--- a/source/blender/editors/mesh/mesh_data.c
+++ b/source/blender/editors/mesh/mesh_data.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/mesh_intern.h b/source/blender/editors/mesh/mesh_intern.h
index 9e6b4e84e54..3831d858340 100644
--- a/source/blender/editors/mesh/mesh_intern.h
+++ b/source/blender/editors/mesh/mesh_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/mesh_navmesh.c b/source/blender/editors/mesh/mesh_navmesh.c
index 84943ecc777..48d2c629148 100644
--- a/source/blender/editors/mesh/mesh_navmesh.c
+++ b/source/blender/editors/mesh/mesh_navmesh.c
@@ -1,32 +1,30 @@
-/**
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2011 by Blender Foundation
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): Benoit Bolsee,
-*                 Nick Samarin
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2011 by Blender Foundation
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Benoit Bolsee,
+ *                 Nick Samarin
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 
 #include <math.h>
 
diff --git a/source/blender/editors/mesh/mesh_ops.c b/source/blender/editors/mesh/mesh_ops.c
index b1f0daeaddc..bd067948e59 100644
--- a/source/blender/editors/mesh/mesh_ops.c
+++ b/source/blender/editors/mesh/mesh_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/mesh/meshtools.c b/source/blender/editors/mesh/meshtools.c
index e6836d7d5aa..3caafb12f82 100644
--- a/source/blender/editors/mesh/meshtools.c
+++ b/source/blender/editors/mesh/meshtools.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/metaball/CMakeLists.txt b/source/blender/editors/metaball/CMakeLists.txt
index 76561b12183..4ea596cefbf 100644
--- a/source/blender/editors/metaball/CMakeLists.txt
+++ b/source/blender/editors/metaball/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/metaball/mball_edit.c b/source/blender/editors/metaball/mball_edit.c
index a58d74d250c..f69f91cd08f 100644
--- a/source/blender/editors/metaball/mball_edit.c
+++ b/source/blender/editors/metaball/mball_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/metaball/mball_intern.h b/source/blender/editors/metaball/mball_intern.h
index 42cc609bec3..792fa80e0c5 100644
--- a/source/blender/editors/metaball/mball_intern.h
+++ b/source/blender/editors/metaball/mball_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/metaball/mball_ops.c b/source/blender/editors/metaball/mball_ops.c
index 1b50cc6523a..4d04fc3e80e 100644
--- a/source/blender/editors/metaball/mball_ops.c
+++ b/source/blender/editors/metaball/mball_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/CMakeLists.txt b/source/blender/editors/object/CMakeLists.txt
index c78c9fddbe8..e7232524a21 100644
--- a/source/blender/editors/object/CMakeLists.txt
+++ b/source/blender/editors/object/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_add.c b/source/blender/editors/object/object_add.c
index 5d8781e0a6d..452e7e4857c 100644
--- a/source/blender/editors/object/object_add.c
+++ b/source/blender/editors/object/object_add.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_bake.c b/source/blender/editors/object/object_bake.c
index 446c359b9f2..e29dfaa0a23 100644
--- a/source/blender/editors/object/object_bake.c
+++ b/source/blender/editors/object/object_bake.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_constraint.c b/source/blender/editors/object/object_constraint.c
index ec7c6cc6108..ab9c071ab30 100644
--- a/source/blender/editors/object/object_constraint.c
+++ b/source/blender/editors/object/object_constraint.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_edit.c b/source/blender/editors/object/object_edit.c
index 0ad11d1a997..04272b48d51 100644
--- a/source/blender/editors/object/object_edit.c
+++ b/source/blender/editors/object/object_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_group.c b/source/blender/editors/object/object_group.c
index b1ab68ff087..bf0439b7044 100644
--- a/source/blender/editors/object/object_group.c
+++ b/source/blender/editors/object/object_group.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_hook.c b/source/blender/editors/object/object_hook.c
index 9f1ad8e4c3c..5bb1b634fe0 100644
--- a/source/blender/editors/object/object_hook.c
+++ b/source/blender/editors/object/object_hook.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_intern.h b/source/blender/editors/object/object_intern.h
index 7bb98f4aeb1..a6e8d4a0a3a 100644
--- a/source/blender/editors/object/object_intern.h
+++ b/source/blender/editors/object/object_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_lattice.c b/source/blender/editors/object/object_lattice.c
index 14ce223db5e..7585018dfd2 100644
--- a/source/blender/editors/object/object_lattice.c
+++ b/source/blender/editors/object/object_lattice.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_modifier.c b/source/blender/editors/object/object_modifier.c
index 20ca50581bf..129d9df86a5 100644
--- a/source/blender/editors/object/object_modifier.c
+++ b/source/blender/editors/object/object_modifier.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_ops.c b/source/blender/editors/object/object_ops.c
index 5a2437b1911..2df49570ee4 100644
--- a/source/blender/editors/object/object_ops.c
+++ b/source/blender/editors/object/object_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_relations.c b/source/blender/editors/object/object_relations.c
index 49a71018719..7c049692b40 100644
--- a/source/blender/editors/object/object_relations.c
+++ b/source/blender/editors/object/object_relations.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_select.c b/source/blender/editors/object/object_select.c
index a4c45e033b3..d10a6be1988 100644
--- a/source/blender/editors/object/object_select.c
+++ b/source/blender/editors/object/object_select.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_shapekey.c b/source/blender/editors/object/object_shapekey.c
index 962aac06474..28f9c88f950 100644
--- a/source/blender/editors/object/object_shapekey.c
+++ b/source/blender/editors/object/object_shapekey.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_transform.c b/source/blender/editors/object/object_transform.c
index 6d721e828af..1efe79fff9e 100644
--- a/source/blender/editors/object/object_transform.c
+++ b/source/blender/editors/object/object_transform.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/object/object_vgroup.c b/source/blender/editors/object/object_vgroup.c
index c1b21865504..378e4a4f314 100644
--- a/source/blender/editors/object/object_vgroup.c
+++ b/source/blender/editors/object/object_vgroup.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/CMakeLists.txt b/source/blender/editors/physics/CMakeLists.txt
index f32b23cd3ee..f98122eccbd 100644
--- a/source/blender/editors/physics/CMakeLists.txt
+++ b/source/blender/editors/physics/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/particle_boids.c b/source/blender/editors/physics/particle_boids.c
index 3b7d6743e42..54bd19164e0 100644
--- a/source/blender/editors/physics/particle_boids.c
+++ b/source/blender/editors/physics/particle_boids.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/particle_edit.c b/source/blender/editors/physics/particle_edit.c
index c0b81efe18c..0803fa2a7a2 100644
--- a/source/blender/editors/physics/particle_edit.c
+++ b/source/blender/editors/physics/particle_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/particle_object.c b/source/blender/editors/physics/particle_object.c
index 8ec95e9b107..101a6744e9a 100644
--- a/source/blender/editors/physics/particle_object.c
+++ b/source/blender/editors/physics/particle_object.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/physics_fluid.c b/source/blender/editors/physics/physics_fluid.c
index 188bab9dced..f0c327b9279 100644
--- a/source/blender/editors/physics/physics_fluid.c
+++ b/source/blender/editors/physics/physics_fluid.c
@@ -1,7 +1,6 @@
 /*
  * fluidsim.c
  * 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/physics/physics_intern.h b/source/blender/editors/physics/physics_intern.h
index 71f1128baf0..b4a38cfdce4 100644
--- a/source/blender/editors/physics/physics_intern.h
+++ b/source/blender/editors/physics/physics_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/physics_ops.c b/source/blender/editors/physics/physics_ops.c
index 56bd8b97532..c0f86673e8f 100644
--- a/source/blender/editors/physics/physics_ops.c
+++ b/source/blender/editors/physics/physics_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/physics/physics_pointcache.c b/source/blender/editors/physics/physics_pointcache.c
index 34f4a1e472b..f826d0ec41a 100644
--- a/source/blender/editors/physics/physics_pointcache.c
+++ b/source/blender/editors/physics/physics_pointcache.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/CMakeLists.txt b/source/blender/editors/render/CMakeLists.txt
index cf6c4290ee0..cf6846f5f98 100644
--- a/source/blender/editors/render/CMakeLists.txt
+++ b/source/blender/editors/render/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_intern.h b/source/blender/editors/render/render_intern.h
index ab09acd67f4..08001688e3f 100644
--- a/source/blender/editors/render/render_intern.h
+++ b/source/blender/editors/render/render_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_internal.c b/source/blender/editors/render/render_internal.c
index d80f3fef125..2f0958371f9 100644
--- a/source/blender/editors/render/render_internal.c
+++ b/source/blender/editors/render/render_internal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -189,10 +187,42 @@ void image_buffer_rect_update(Scene *scene, RenderResult *rr, ImBuf *ibuf, volat
 /* set callbacks, exported to sequence render too.
  Only call in foreground (UI) renders. */
 
+static void screen_render_scene_layer_set(wmOperator *op, Main *mainp, Scene **scene, SceneRenderLayer **srl)
+{
+	/* single layer re-render */
+	if(RNA_property_is_set(op->ptr, "scene")) {
+		Scene *scn;
+		char scene_name[MAX_ID_NAME-2];
+
+		RNA_string_get(op->ptr, "scene", scene_name);
+		scn = (Scene *)BLI_findstring(&mainp->scene, scene_name, offsetof(ID, name) + 2);
+		
+		if (scn) {
+			/* camera switch wont have updated */
+			scn->r.cfra= (*scene)->r.cfra;
+			scene_camera_switch_update(scn);
+
+			*scene = scn;
+		}
+	}
+
+	if(RNA_property_is_set(op->ptr, "layer")) {
+		SceneRenderLayer *rl;
+		char rl_name[RE_MAXNAME];
+
+		RNA_string_get(op->ptr, "layer", rl_name);
+		rl = (SceneRenderLayer *)BLI_findstring(&(*scene)->r.layers, rl_name, offsetof(SceneRenderLayer, name));
+		
+		if (rl)
+			*srl = rl;
+	}
+}
+
 /* executes blocking render */
 static int screen_render_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
+	SceneRenderLayer *srl= NULL;
 	Render *re= RE_NewRender(scene->id.name);
 	Image *ima;
 	View3D *v3d= CTX_wm_view3d(C);
@@ -222,10 +252,13 @@ static int screen_render_exec(bContext *C, wmOperator *op)
 
 	RE_SetReports(re, op->reports);
 
+	/* custom scene and single layer re-render */
+	screen_render_scene_layer_set(op, mainp, &scene, &srl);
+
 	if(is_animation)
 		RE_BlenderAnim(re, mainp, scene, camera_override, lay, scene->r.sfra, scene->r.efra, scene->r.frame_step);
 	else
-		RE_BlenderFrame(re, mainp, scene, NULL, camera_override, lay, scene->r.cfra, is_write_still);
+		RE_BlenderFrame(re, mainp, scene, srl, camera_override, lay, scene->r.cfra, is_write_still);
 
 	RE_SetReports(re, NULL);
 
@@ -520,28 +553,11 @@ static int screen_render_invoke(bContext *C, wmOperator *op, wmEvent *event)
 
 	jobflag= WM_JOB_EXCL_RENDER|WM_JOB_PRIORITY|WM_JOB_PROGRESS;
 	
-	/* single layer re-render */
-	if(RNA_property_is_set(op->ptr, "layer")) {
-		SceneRenderLayer *rl;
-		Scene *scn;
-		char scene_name[MAX_ID_NAME-2], rl_name[RE_MAXNAME];
-
-		RNA_string_get(op->ptr, "layer", rl_name);
-		RNA_string_get(op->ptr, "scene", scene_name);
+	/* custom scene and single layer re-render */
+	screen_render_scene_layer_set(op, mainp, &scene, &srl);
 
-		scn = (Scene *)BLI_findstring(&mainp->scene, scene_name, offsetof(ID, name) + 2);
-		rl = (SceneRenderLayer *)BLI_findstring(&scene->r.layers, rl_name, offsetof(SceneRenderLayer, name));
-		
-		if (scn && rl) {
-			/* camera switch wont have updated */
-			scn->r.cfra= scene->r.cfra;
-			scene_camera_switch_update(scn);
-
-			scene = scn;
-			srl = rl;
-		}
+	if(RNA_property_is_set(op->ptr, "layer"))
 		jobflag |= WM_JOB_SUSPEND;
-	}
 
 	/* job custom data */
 	rj= MEM_callocN(sizeof(RenderJob), "render job");
@@ -613,7 +629,7 @@ void RENDER_OT_render(wmOperatorType *ot)
 
 	RNA_def_boolean(ot->srna, "animation", 0, "Animation", "Render files from the animation range of this scene");
 	RNA_def_boolean(ot->srna, "write_still", 0, "Write Image", "Save rendered the image to the output path (used only when animation is disabled)");
-	RNA_def_string(ot->srna, "layer", "", RE_MAXNAME, "Render Layer", "Single render layer to re-render");
-	RNA_def_string(ot->srna, "scene", "", MAX_ID_NAME-2, "Scene", "Re-render single layer in this scene");
+	RNA_def_string(ot->srna, "layer", "", RE_MAXNAME, "Render Layer", "Single render layer to re-render (used only when animation is disabled)");
+	RNA_def_string(ot->srna, "scene", "", MAX_ID_NAME-2, "Scene", "Scene to render, current scene if not specified");
 }
 
diff --git a/source/blender/editors/render/render_opengl.c b/source/blender/editors/render/render_opengl.c
index 5a8e930e1a4..feeb2fefca7 100644
--- a/source/blender/editors/render/render_opengl.c
+++ b/source/blender/editors/render/render_opengl.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_ops.c b/source/blender/editors/render/render_ops.c
index dd488154198..c9e6dc90515 100644
--- a/source/blender/editors/render/render_ops.c
+++ b/source/blender/editors/render/render_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_preview.c b/source/blender/editors/render/render_preview.c
index af2cd431a10..49bdb103139 100644
--- a/source/blender/editors/render/render_preview.c
+++ b/source/blender/editors/render/render_preview.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/render/render_shading.c b/source/blender/editors/render/render_shading.c
index 582a8596dd1..35d679146fe 100644
--- a/source/blender/editors/render/render_shading.c
+++ b/source/blender/editors/render/render_shading.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_update.c b/source/blender/editors/render/render_update.c
index 85e1eb016d7..e80c3d85670 100644
--- a/source/blender/editors/render/render_update.c
+++ b/source/blender/editors/render/render_update.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/render/render_view.c b/source/blender/editors/render/render_view.c
index 9dfcde6ed0d..47957c0bb5a 100644
--- a/source/blender/editors/render/render_view.c
+++ b/source/blender/editors/render/render_view.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/CMakeLists.txt b/source/blender/editors/screen/CMakeLists.txt
index 4282110901b..3614052684c 100644
--- a/source/blender/editors/screen/CMakeLists.txt
+++ b/source/blender/editors/screen/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/area.c b/source/blender/editors/screen/area.c
index 2b007f55706..7e79849ba40 100644
--- a/source/blender/editors/screen/area.c
+++ b/source/blender/editors/screen/area.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/glutil.c b/source/blender/editors/screen/glutil.c
index 827c14b1c0d..0bba9838005 100644
--- a/source/blender/editors/screen/glutil.c
+++ b/source/blender/editors/screen/glutil.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/screen_context.c b/source/blender/editors/screen/screen_context.c
index 2e8dc32ad6d..cb42cd786ed 100644
--- a/source/blender/editors/screen/screen_context.c
+++ b/source/blender/editors/screen/screen_context.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/screen_edit.c b/source/blender/editors/screen/screen_edit.c
index 5e875e40f14..72fb0a019b6 100644
--- a/source/blender/editors/screen/screen_edit.c
+++ b/source/blender/editors/screen/screen_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/screen_intern.h b/source/blender/editors/screen/screen_intern.h
index f15b1a70afa..b882a0881a1 100644
--- a/source/blender/editors/screen/screen_intern.h
+++ b/source/blender/editors/screen/screen_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/screen_ops.c b/source/blender/editors/screen/screen_ops.c
index bae6fa9d6b0..0a7e3a2763a 100644
--- a/source/blender/editors/screen/screen_ops.c
+++ b/source/blender/editors/screen/screen_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/screen/screendump.c b/source/blender/editors/screen/screendump.c
index 27c311aa04f..017325c535e 100644
--- a/source/blender/editors/screen/screendump.c
+++ b/source/blender/editors/screen/screendump.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/CMakeLists.txt b/source/blender/editors/sculpt_paint/CMakeLists.txt
index 94e08a020f6..30f49264e90 100644
--- a/source/blender/editors/sculpt_paint/CMakeLists.txt
+++ b/source/blender/editors/sculpt_paint/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/paint_image.c b/source/blender/editors/sculpt_paint/paint_image.c
index b6b22c391b8..d49ce0cf49a 100644
--- a/source/blender/editors/sculpt_paint/paint_image.c
+++ b/source/blender/editors/sculpt_paint/paint_image.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * imagepaint.c
  *
  * Functions to paint images in 2D and 3D.
diff --git a/source/blender/editors/sculpt_paint/paint_intern.h b/source/blender/editors/sculpt_paint/paint_intern.h
index f671b7b1713..3b001a8fcdc 100644
--- a/source/blender/editors/sculpt_paint/paint_intern.h
+++ b/source/blender/editors/sculpt_paint/paint_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/paint_ops.c b/source/blender/editors/sculpt_paint/paint_ops.c
index 287d204115c..2d0ad349be8 100644
--- a/source/blender/editors/sculpt_paint/paint_ops.c
+++ b/source/blender/editors/sculpt_paint/paint_ops.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/paint_undo.c b/source/blender/editors/sculpt_paint/paint_undo.c
index 345cda63f5a..b00910195ff 100644
--- a/source/blender/editors/sculpt_paint/paint_undo.c
+++ b/source/blender/editors/sculpt_paint/paint_undo.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * Undo system for painting and sculpting.
  * 
diff --git a/source/blender/editors/sculpt_paint/paint_utils.c b/source/blender/editors/sculpt_paint/paint_utils.c
index d332dc6ec0d..b1c0b571d49 100644
--- a/source/blender/editors/sculpt_paint/paint_utils.c
+++ b/source/blender/editors/sculpt_paint/paint_utils.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/paint_vertex.c b/source/blender/editors/sculpt_paint/paint_vertex.c
index 87411b97061..3e2c4666528 100644
--- a/source/blender/editors/sculpt_paint/paint_vertex.c
+++ b/source/blender/editors/sculpt_paint/paint_vertex.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/sculpt.c b/source/blender/editors/sculpt_paint/sculpt.c
index 5a888e6f595..0b009dba651 100644
--- a/source/blender/editors/sculpt_paint/sculpt.c
+++ b/source/blender/editors/sculpt_paint/sculpt.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/sculpt_intern.h b/source/blender/editors/sculpt_paint/sculpt_intern.h
index c1da29aeb27..42205a8da04 100644
--- a/source/blender/editors/sculpt_paint/sculpt_intern.h
+++ b/source/blender/editors/sculpt_paint/sculpt_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sculpt_paint/sculpt_undo.c b/source/blender/editors/sculpt_paint/sculpt_undo.c
index 7656e51d241..4c54a5891b1 100644
--- a/source/blender/editors/sculpt_paint/sculpt_undo.c
+++ b/source/blender/editors/sculpt_paint/sculpt_undo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sound/CMakeLists.txt b/source/blender/editors/sound/CMakeLists.txt
index 11da4165ec8..6bbb3483d11 100644
--- a/source/blender/editors/sound/CMakeLists.txt
+++ b/source/blender/editors/sound/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sound/sound_intern.h b/source/blender/editors/sound/sound_intern.h
index cde0b3c4479..91c1b5d1456 100644
--- a/source/blender/editors/sound/sound_intern.h
+++ b/source/blender/editors/sound/sound_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/sound/sound_ops.c b/source/blender/editors/sound/sound_ops.c
index 50dda49bead..d8157743438 100644
--- a/source/blender/editors/sound/sound_ops.c
+++ b/source/blender/editors/sound/sound_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_action/CMakeLists.txt b/source/blender/editors/space_action/CMakeLists.txt
index edebaa8273a..f53d26d323f 100644
--- a/source/blender/editors/space_action/CMakeLists.txt
+++ b/source/blender/editors/space_action/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_action/action_edit.c b/source/blender/editors/space_action/action_edit.c
index 7bf0f98b471..eb29dfb2ce1 100644
--- a/source/blender/editors/space_action/action_edit.c
+++ b/source/blender/editors/space_action/action_edit.c
@@ -261,7 +261,7 @@ static void get_keyframe_extents (bAnimContext *ac, float *min, float *max, cons
 				float tmin, tmax;
 
 				/* get range and apply necessary scaling before processing */
-				calc_fcurve_range(fcu, &tmin, &tmax, onlySel);
+				calc_fcurve_range(fcu, &tmin, &tmax, onlySel, TRUE);
 
 				if (adt) {
 					tmin= BKE_nla_tweakedit_remap(adt, tmin, NLATIME_CONVERT_MAP);
diff --git a/source/blender/editors/space_api/CMakeLists.txt b/source/blender/editors/space_api/CMakeLists.txt
index 4cbb290be76..6f2a0385231 100644
--- a/source/blender/editors/space_api/CMakeLists.txt
+++ b/source/blender/editors/space_api/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_api/space.c b/source/blender/editors/space_api/space.c
index 1ba8f00995c..e677014decf 100644
--- a/source/blender/editors/space_api/space.c
+++ b/source/blender/editors/space_api/space.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_api/spacetypes.c b/source/blender/editors/space_api/spacetypes.c
index 4f8cb8a57b2..99ab356ac5f 100644
--- a/source/blender/editors/space_api/spacetypes.c
+++ b/source/blender/editors/space_api/spacetypes.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/CMakeLists.txt b/source/blender/editors/space_buttons/CMakeLists.txt
index a9aaf6a6d58..dbb96b68587 100644
--- a/source/blender/editors/space_buttons/CMakeLists.txt
+++ b/source/blender/editors/space_buttons/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/buttons_context.c b/source/blender/editors/space_buttons/buttons_context.c
index 309c5cfc218..6d6f73e98d8 100644
--- a/source/blender/editors/space_buttons/buttons_context.c
+++ b/source/blender/editors/space_buttons/buttons_context.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/buttons_header.c b/source/blender/editors/space_buttons/buttons_header.c
index dfbb2a543cb..1c352b1cb21 100644
--- a/source/blender/editors/space_buttons/buttons_header.c
+++ b/source/blender/editors/space_buttons/buttons_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/buttons_intern.h b/source/blender/editors/space_buttons/buttons_intern.h
index d25bd7940ab..27084488163 100644
--- a/source/blender/editors/space_buttons/buttons_intern.h
+++ b/source/blender/editors/space_buttons/buttons_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/buttons_ops.c b/source/blender/editors/space_buttons/buttons_ops.c
index 5dbcfbba5be..39fae43a877 100644
--- a/source/blender/editors/space_buttons/buttons_ops.c
+++ b/source/blender/editors/space_buttons/buttons_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_buttons/space_buttons.c b/source/blender/editors/space_buttons/space_buttons.c
index ef927fd69fc..4c328d174e9 100644
--- a/source/blender/editors/space_buttons/space_buttons.c
+++ b/source/blender/editors/space_buttons/space_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_console/CMakeLists.txt b/source/blender/editors/space_console/CMakeLists.txt
index f89d782c7f2..2f1c3f4a244 100644
--- a/source/blender/editors/space_console/CMakeLists.txt
+++ b/source/blender/editors/space_console/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_console/console_draw.c b/source/blender/editors/space_console/console_draw.c
index 905fed4f30b..4855121a4de 100644
--- a/source/blender/editors/space_console/console_draw.c
+++ b/source/blender/editors/space_console/console_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_console/console_intern.h b/source/blender/editors/space_console/console_intern.h
index ad20c026e6c..1c7aef01450 100644
--- a/source/blender/editors/space_console/console_intern.h
+++ b/source/blender/editors/space_console/console_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_console/console_ops.c b/source/blender/editors/space_console/console_ops.c
index cb2b5c47ff3..9ac9f730fdc 100644
--- a/source/blender/editors/space_console/console_ops.c
+++ b/source/blender/editors/space_console/console_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_console/space_console.c b/source/blender/editors/space_console/space_console.c
index 1b9e3fdfb4a..4867552cc52 100644
--- a/source/blender/editors/space_console/space_console.c
+++ b/source/blender/editors/space_console/space_console.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/CMakeLists.txt b/source/blender/editors/space_file/CMakeLists.txt
index 4aa6cdbcf2f..6d959d0b739 100644
--- a/source/blender/editors/space_file/CMakeLists.txt
+++ b/source/blender/editors/space_file/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/file_draw.c b/source/blender/editors/space_file/file_draw.c
index 8a7e4ce3ec1..d91282e768f 100644
--- a/source/blender/editors/space_file/file_draw.c
+++ b/source/blender/editors/space_file/file_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/file_intern.h b/source/blender/editors/space_file/file_intern.h
index 1965c661685..d9de804404e 100644
--- a/source/blender/editors/space_file/file_intern.h
+++ b/source/blender/editors/space_file/file_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/file_ops.c b/source/blender/editors/space_file/file_ops.c
index 079b1c96d24..d6bab41f719 100644
--- a/source/blender/editors/space_file/file_ops.c
+++ b/source/blender/editors/space_file/file_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/file_panels.c b/source/blender/editors/space_file/file_panels.c
index fae10c0d84e..7bcaf722827 100644
--- a/source/blender/editors/space_file/file_panels.c
+++ b/source/blender/editors/space_file/file_panels.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/filelist.c b/source/blender/editors/space_file/filelist.c
index 89a34c62200..bcd35c63a41 100644
--- a/source/blender/editors/space_file/filelist.c
+++ b/source/blender/editors/space_file/filelist.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/filelist.h b/source/blender/editors/space_file/filelist.h
index c5535b22f22..a7f2a0d1af9 100644
--- a/source/blender/editors/space_file/filelist.h
+++ b/source/blender/editors/space_file/filelist.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/filesel.c b/source/blender/editors/space_file/filesel.c
index 29d8242e26d..65473bde0d1 100644
--- a/source/blender/editors/space_file/filesel.c
+++ b/source/blender/editors/space_file/filesel.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/fsmenu.c b/source/blender/editors/space_file/fsmenu.c
index a843129c4d9..6b3477d1fe5 100644
--- a/source/blender/editors/space_file/fsmenu.c
+++ b/source/blender/editors/space_file/fsmenu.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/fsmenu.h b/source/blender/editors/space_file/fsmenu.h
index c300dd84986..5947db073f6 100644
--- a/source/blender/editors/space_file/fsmenu.h
+++ b/source/blender/editors/space_file/fsmenu.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_file/space_file.c b/source/blender/editors/space_file/space_file.c
index 726a2a80be1..7bc71e333ea 100644
--- a/source/blender/editors/space_file/space_file.c
+++ b/source/blender/editors/space_file/space_file.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/CMakeLists.txt b/source/blender/editors/space_graph/CMakeLists.txt
index 28383b29b36..50ab985d1e0 100644
--- a/source/blender/editors/space_graph/CMakeLists.txt
+++ b/source/blender/editors/space_graph/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/graph_edit.c b/source/blender/editors/space_graph/graph_edit.c
index 90bfadd0b5a..455b1bc0bdf 100644
--- a/source/blender/editors/space_graph/graph_edit.c
+++ b/source/blender/editors/space_graph/graph_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/graph_intern.h b/source/blender/editors/space_graph/graph_intern.h
index 2aefb7c64dd..d0efdefe5a5 100644
--- a/source/blender/editors/space_graph/graph_intern.h
+++ b/source/blender/editors/space_graph/graph_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/graph_ops.c b/source/blender/editors/space_graph/graph_ops.c
index fb148a73ed2..90e99519600 100644
--- a/source/blender/editors/space_graph/graph_ops.c
+++ b/source/blender/editors/space_graph/graph_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/graph_select.c b/source/blender/editors/space_graph/graph_select.c
index 40380db03d4..e74c7d50adc 100644
--- a/source/blender/editors/space_graph/graph_select.c
+++ b/source/blender/editors/space_graph/graph_select.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/graph_utils.c b/source/blender/editors/space_graph/graph_utils.c
index 3f2993fd793..e7dc5e8408c 100644
--- a/source/blender/editors/space_graph/graph_utils.c
+++ b/source/blender/editors/space_graph/graph_utils.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_graph/space_graph.c b/source/blender/editors/space_graph/space_graph.c
index 3cc83b12124..50178f73d89 100644
--- a/source/blender/editors/space_graph/space_graph.c
+++ b/source/blender/editors/space_graph/space_graph.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/CMakeLists.txt b/source/blender/editors/space_image/CMakeLists.txt
index 0d4408faf49..15c90fb701e 100644
--- a/source/blender/editors/space_image/CMakeLists.txt
+++ b/source/blender/editors/space_image/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/image_buttons.c b/source/blender/editors/space_image/image_buttons.c
index beeb5e3532f..5445f2e8c44 100644
--- a/source/blender/editors/space_image/image_buttons.c
+++ b/source/blender/editors/space_image/image_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/image_draw.c b/source/blender/editors/space_image/image_draw.c
index 112359726ea..505452f504c 100644
--- a/source/blender/editors/space_image/image_draw.c
+++ b/source/blender/editors/space_image/image_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/image_intern.h b/source/blender/editors/space_image/image_intern.h
index 399157da85c..051926bf689 100644
--- a/source/blender/editors/space_image/image_intern.h
+++ b/source/blender/editors/space_image/image_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/image_ops.c b/source/blender/editors/space_image/image_ops.c
index dba60586b29..f5164dc32d3 100644
--- a/source/blender/editors/space_image/image_ops.c
+++ b/source/blender/editors/space_image/image_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_image/space_image.c b/source/blender/editors/space_image/space_image.c
index e345caf1359..3b9876329ec 100644
--- a/source/blender/editors/space_image/space_image.c
+++ b/source/blender/editors/space_image/space_image.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/CMakeLists.txt b/source/blender/editors/space_info/CMakeLists.txt
index 22347df93a3..4c1c13c1092 100644
--- a/source/blender/editors/space_info/CMakeLists.txt
+++ b/source/blender/editors/space_info/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/info_draw.c b/source/blender/editors/space_info/info_draw.c
index 126d75e76cb..d2be3bd2812 100644
--- a/source/blender/editors/space_info/info_draw.c
+++ b/source/blender/editors/space_info/info_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/info_intern.h b/source/blender/editors/space_info/info_intern.h
index 00aee75768f..fc0615a914b 100644
--- a/source/blender/editors/space_info/info_intern.h
+++ b/source/blender/editors/space_info/info_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/info_ops.c b/source/blender/editors/space_info/info_ops.c
index 6c5a6f78e90..2b3785e2810 100644
--- a/source/blender/editors/space_info/info_ops.c
+++ b/source/blender/editors/space_info/info_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/info_report.c b/source/blender/editors/space_info/info_report.c
index 52930626964..eab6cb5402f 100644
--- a/source/blender/editors/space_info/info_report.c
+++ b/source/blender/editors/space_info/info_report.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/info_stats.c b/source/blender/editors/space_info/info_stats.c
index 182e5242a1d..25e1d2f2816 100644
--- a/source/blender/editors/space_info/info_stats.c
+++ b/source/blender/editors/space_info/info_stats.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/space_info.c b/source/blender/editors/space_info/space_info.c
index bafcf36e646..b9ef57e6850 100644
--- a/source/blender/editors/space_info/space_info.c
+++ b/source/blender/editors/space_info/space_info.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/textview.c b/source/blender/editors/space_info/textview.c
index afe8aa39c16..70c4ebd445a 100644
--- a/source/blender/editors/space_info/textview.c
+++ b/source/blender/editors/space_info/textview.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_info/textview.h b/source/blender/editors/space_info/textview.h
index a30c082575a..33fbe556245 100644
--- a/source/blender/editors/space_info/textview.h
+++ b/source/blender/editors/space_info/textview.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/CMakeLists.txt b/source/blender/editors/space_logic/CMakeLists.txt
index c4f9f49c9a1..8859d1d8bfd 100644
--- a/source/blender/editors/space_logic/CMakeLists.txt
+++ b/source/blender/editors/space_logic/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/logic_buttons.c b/source/blender/editors/space_logic/logic_buttons.c
index 16e916928a9..388f9470cb5 100644
--- a/source/blender/editors/space_logic/logic_buttons.c
+++ b/source/blender/editors/space_logic/logic_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/logic_intern.h b/source/blender/editors/space_logic/logic_intern.h
index dc17297fa9e..457fe14352c 100644
--- a/source/blender/editors/space_logic/logic_intern.h
+++ b/source/blender/editors/space_logic/logic_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/logic_ops.c b/source/blender/editors/space_logic/logic_ops.c
index b1c0dd02e4b..ce6b7d2e910 100644
--- a/source/blender/editors/space_logic/logic_ops.c
+++ b/source/blender/editors/space_logic/logic_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/logic_window.c b/source/blender/editors/space_logic/logic_window.c
index eec8bfb469b..c36cb1bf00e 100644
--- a/source/blender/editors/space_logic/logic_window.c
+++ b/source/blender/editors/space_logic/logic_window.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_logic/space_logic.c b/source/blender/editors/space_logic/space_logic.c
index f420d0ef690..a9b1acbcc04 100644
--- a/source/blender/editors/space_logic/space_logic.c
+++ b/source/blender/editors/space_logic/space_logic.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_nla/CMakeLists.txt b/source/blender/editors/space_nla/CMakeLists.txt
index 819e80d7b2e..cae31f86388 100644
--- a/source/blender/editors/space_nla/CMakeLists.txt
+++ b/source/blender/editors/space_nla/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/CMakeLists.txt b/source/blender/editors/space_node/CMakeLists.txt
index dcd6bcd3403..8a27bcca8af 100644
--- a/source/blender/editors/space_node/CMakeLists.txt
+++ b/source/blender/editors/space_node/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/drawnode.c b/source/blender/editors/space_node/drawnode.c
index 150847ce825..7a9cf644b55 100644
--- a/source/blender/editors/space_node/drawnode.c
+++ b/source/blender/editors/space_node/drawnode.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_buttons.c b/source/blender/editors/space_node/node_buttons.c
index 7b14e35e8fe..3886c709196 100644
--- a/source/blender/editors/space_node/node_buttons.c
+++ b/source/blender/editors/space_node/node_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_draw.c b/source/blender/editors/space_node/node_draw.c
index baa47d4147e..fd7a6ee21fd 100644
--- a/source/blender/editors/space_node/node_draw.c
+++ b/source/blender/editors/space_node/node_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_edit.c b/source/blender/editors/space_node/node_edit.c
index 59e62c9b0e4..4c98028644a 100644
--- a/source/blender/editors/space_node/node_edit.c
+++ b/source/blender/editors/space_node/node_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_header.c b/source/blender/editors/space_node/node_header.c
index b64685e3984..68f5dd6bf14 100644
--- a/source/blender/editors/space_node/node_header.c
+++ b/source/blender/editors/space_node/node_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_intern.h b/source/blender/editors/space_node/node_intern.h
index 8bc0ae51415..655d54ac8a7 100644
--- a/source/blender/editors/space_node/node_intern.h
+++ b/source/blender/editors/space_node/node_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_ops.c b/source/blender/editors/space_node/node_ops.c
index 87f98f2bb8d..8309181ddda 100644
--- a/source/blender/editors/space_node/node_ops.c
+++ b/source/blender/editors/space_node/node_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_select.c b/source/blender/editors/space_node/node_select.c
index e2b0b9c65d0..593beedc765 100644
--- a/source/blender/editors/space_node/node_select.c
+++ b/source/blender/editors/space_node/node_select.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/node_state.c b/source/blender/editors/space_node/node_state.c
index 13a5f3cb3dc..bfebd087c3f 100644
--- a/source/blender/editors/space_node/node_state.c
+++ b/source/blender/editors/space_node/node_state.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_node/space_node.c b/source/blender/editors/space_node/space_node.c
index 1d9723f598b..35b8666f274 100644
--- a/source/blender/editors/space_node/space_node.c
+++ b/source/blender/editors/space_node/space_node.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_outliner/CMakeLists.txt b/source/blender/editors/space_outliner/CMakeLists.txt
index d969a80a678..27b4a568860 100644
--- a/source/blender/editors/space_outliner/CMakeLists.txt
+++ b/source/blender/editors/space_outliner/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_outliner/outliner_draw.c b/source/blender/editors/space_outliner/outliner_draw.c
index 10ca482ae0e..608a3c4c0b2 100644
--- a/source/blender/editors/space_outliner/outliner_draw.c
+++ b/source/blender/editors/space_outliner/outliner_draw.c
@@ -310,11 +310,19 @@ static void namebutton_cb(bContext *C, void *tsep, char *oldname)
 			}					
 			/* Check the library target exists */
 			if (te->idcode == ID_LI) {
-				char expanded[FILE_MAXDIR + FILE_MAXFILE];
-				BLI_strncpy(expanded, ((Library *)tselem->id)->name, FILE_MAXDIR + FILE_MAXFILE);
+				Library *lib= (Library *)tselem->id;
+				char expanded[FILE_MAX];
+
+				BLI_strncpy(expanded, lib->name, sizeof(expanded));
+
+				/* even though we already set the name this syncs the absolute
+				 * path, this is intentionally not already expanded yet to
+				 * avoid copying lib->name to its self. */
+				BKE_library_filepath_set(lib, expanded);
+
 				BLI_path_abs(expanded, G.main->name);
 				if (!BLI_exists(expanded)) {
-					BKE_report(CTX_wm_reports(C), RPT_ERROR, "This path does not exist, correct this before saving");
+					BKE_reportf(CTX_wm_reports(C), RPT_ERROR, "Library path '%s' does not exist, correct this before saving", expanded);
 				}
 			}
 		}
diff --git a/source/blender/editors/space_outliner/outliner_tools.c b/source/blender/editors/space_outliner/outliner_tools.c
index 78907fbd1ed..a4f67f91763 100644
--- a/source/blender/editors/space_outliner/outliner_tools.c
+++ b/source/blender/editors/space_outliner/outliner_tools.c
@@ -310,9 +310,7 @@ static void object_delete_cb(bContext *C, Scene *scene, TreeElement *te, TreeSto
 static void id_local_cb(bContext *UNUSED(C), Scene *UNUSED(scene), TreeElement *UNUSED(te), TreeStoreElem *UNUSED(tsep), TreeStoreElem *tselem)
 {
 	if (tselem->id->lib && (tselem->id->flag & LIB_EXTERN)) {
-		tselem->id->lib= NULL;
-		tselem->id->flag= LIB_LOCAL;
-		new_id(NULL, tselem->id, NULL);
+		id_clear_lib_data(NULL, tselem->id);
 	}
 }
 
diff --git a/source/blender/editors/space_script/CMakeLists.txt b/source/blender/editors/space_script/CMakeLists.txt
index 9d3bd4a67aa..fb88d81ddf6 100644
--- a/source/blender/editors/space_script/CMakeLists.txt
+++ b/source/blender/editors/space_script/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_script/script_edit.c b/source/blender/editors/space_script/script_edit.c
index 02cbc81aaa5..b0c2de390a2 100644
--- a/source/blender/editors/space_script/script_edit.c
+++ b/source/blender/editors/space_script/script_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_script/script_header.c b/source/blender/editors/space_script/script_header.c
index d88d4296008..8354dc1e996 100644
--- a/source/blender/editors/space_script/script_header.c
+++ b/source/blender/editors/space_script/script_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_script/script_intern.h b/source/blender/editors/space_script/script_intern.h
index c818a4e1f9b..a3565d070eb 100644
--- a/source/blender/editors/space_script/script_intern.h
+++ b/source/blender/editors/space_script/script_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_script/script_ops.c b/source/blender/editors/space_script/script_ops.c
index 215c66b2519..3ae89eefda3 100644
--- a/source/blender/editors/space_script/script_ops.c
+++ b/source/blender/editors/space_script/script_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_script/space_script.c b/source/blender/editors/space_script/space_script.c
index b81394a87e2..dbda276b20c 100644
--- a/source/blender/editors/space_script/space_script.c
+++ b/source/blender/editors/space_script/space_script.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/CMakeLists.txt b/source/blender/editors/space_sequencer/CMakeLists.txt
index 9ce5f8e5279..bfd9ed95ee4 100644
--- a/source/blender/editors/space_sequencer/CMakeLists.txt
+++ b/source/blender/editors/space_sequencer/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_add.c b/source/blender/editors/space_sequencer/sequencer_add.c
index 2f57bc2d93b..458e6453b77 100644
--- a/source/blender/editors/space_sequencer/sequencer_add.c
+++ b/source/blender/editors/space_sequencer/sequencer_add.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_buttons.c b/source/blender/editors/space_sequencer/sequencer_buttons.c
index 01a43fd7fe1..9aefdea9fb0 100644
--- a/source/blender/editors/space_sequencer/sequencer_buttons.c
+++ b/source/blender/editors/space_sequencer/sequencer_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_draw.c b/source/blender/editors/space_sequencer/sequencer_draw.c
index 13e54c9a4c0..18360f8df41 100644
--- a/source/blender/editors/space_sequencer/sequencer_draw.c
+++ b/source/blender/editors/space_sequencer/sequencer_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_edit.c b/source/blender/editors/space_sequencer/sequencer_edit.c
index a20ab260379..8575d0348ab 100644
--- a/source/blender/editors/space_sequencer/sequencer_edit.c
+++ b/source/blender/editors/space_sequencer/sequencer_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_intern.h b/source/blender/editors/space_sequencer/sequencer_intern.h
index a0999c9a03b..4359e3a6652 100644
--- a/source/blender/editors/space_sequencer/sequencer_intern.h
+++ b/source/blender/editors/space_sequencer/sequencer_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_ops.c b/source/blender/editors/space_sequencer/sequencer_ops.c
index b53284136de..720081d946b 100644
--- a/source/blender/editors/space_sequencer/sequencer_ops.c
+++ b/source/blender/editors/space_sequencer/sequencer_ops.c
@@ -1,6 +1,5 @@
 
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/editors/space_sequencer/sequencer_scopes.c b/source/blender/editors/space_sequencer/sequencer_scopes.c
index b617d012237..8c189d96062 100644
--- a/source/blender/editors/space_sequencer/sequencer_scopes.c
+++ b/source/blender/editors/space_sequencer/sequencer_scopes.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/sequencer_select.c b/source/blender/editors/space_sequencer/sequencer_select.c
index 53a520a355d..d749371a636 100644
--- a/source/blender/editors/space_sequencer/sequencer_select.c
+++ b/source/blender/editors/space_sequencer/sequencer_select.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sequencer/space_sequencer.c b/source/blender/editors/space_sequencer/space_sequencer.c
index 9468603be7f..bf268b0e304 100644
--- a/source/blender/editors/space_sequencer/space_sequencer.c
+++ b/source/blender/editors/space_sequencer/space_sequencer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sound/CMakeLists.txt b/source/blender/editors/space_sound/CMakeLists.txt
index 870065966cc..ae605760975 100644
--- a/source/blender/editors/space_sound/CMakeLists.txt
+++ b/source/blender/editors/space_sound/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sound/sound_header.c b/source/blender/editors/space_sound/sound_header.c
index 2246eb310b5..6e2010c0c63 100644
--- a/source/blender/editors/space_sound/sound_header.c
+++ b/source/blender/editors/space_sound/sound_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sound/sound_intern.h b/source/blender/editors/space_sound/sound_intern.h
index 05a67fac03c..88891ff4913 100644
--- a/source/blender/editors/space_sound/sound_intern.h
+++ b/source/blender/editors/space_sound/sound_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_sound/space_sound.c b/source/blender/editors/space_sound/space_sound.c
index 1879469d288..83d1b5b06c2 100644
--- a/source/blender/editors/space_sound/space_sound.c
+++ b/source/blender/editors/space_sound/space_sound.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/CMakeLists.txt b/source/blender/editors/space_text/CMakeLists.txt
index acf00d205a6..ead7de92c5c 100644
--- a/source/blender/editors/space_text/CMakeLists.txt
+++ b/source/blender/editors/space_text/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/space_text.c b/source/blender/editors/space_text/space_text.c
index 51f4f1e579c..7e6af8ea789 100644
--- a/source/blender/editors/space_text/space_text.c
+++ b/source/blender/editors/space_text/space_text.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/text_draw.c b/source/blender/editors/space_text/text_draw.c
index 10d355bd0c3..d59d947f0c8 100644
--- a/source/blender/editors/space_text/text_draw.c
+++ b/source/blender/editors/space_text/text_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/text_header.c b/source/blender/editors/space_text/text_header.c
index 165cec238c0..7fde4266655 100644
--- a/source/blender/editors/space_text/text_header.c
+++ b/source/blender/editors/space_text/text_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/text_intern.h b/source/blender/editors/space_text/text_intern.h
index b34c7815f35..565d531975b 100644
--- a/source/blender/editors/space_text/text_intern.h
+++ b/source/blender/editors/space_text/text_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_text/text_ops.c b/source/blender/editors/space_text/text_ops.c
index 242bccd2376..ffcf2606a04 100644
--- a/source/blender/editors/space_text/text_ops.c
+++ b/source/blender/editors/space_text/text_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -2226,7 +2224,7 @@ static int scroll_invoke(bContext *C, wmOperator *op, wmEvent *event)
 		text_update_character_width(st);
 		
 		tsc->old[0] = event->x;
-		tsc->old[1] = event->x;
+		tsc->old[1] = event->y;
 		/* Sensitivity of scroll set to 4pix per line/char */
 		tsc->delta[0] = (event->x - event->prevx)*st->cwidth/4;
 		tsc->delta[1] = (event->y - event->prevy)*st->lheight/4;
diff --git a/source/blender/editors/space_text/text_python.c b/source/blender/editors/space_text/text_python.c
index 08008f455e6..efe744696df 100644
--- a/source/blender/editors/space_text/text_python.c
+++ b/source/blender/editors/space_text/text_python.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_time/CMakeLists.txt b/source/blender/editors/space_time/CMakeLists.txt
index 758d1e629f9..6e51d7829f6 100644
--- a/source/blender/editors/space_time/CMakeLists.txt
+++ b/source/blender/editors/space_time/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_userpref/CMakeLists.txt b/source/blender/editors/space_userpref/CMakeLists.txt
index 43ac90dce94..2ff683a007c 100644
--- a/source/blender/editors/space_userpref/CMakeLists.txt
+++ b/source/blender/editors/space_userpref/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_userpref/space_userpref.c b/source/blender/editors/space_userpref/space_userpref.c
index 248b65e4e9c..e9bf9345b5c 100644
--- a/source/blender/editors/space_userpref/space_userpref.c
+++ b/source/blender/editors/space_userpref/space_userpref.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_userpref/userpref_intern.h b/source/blender/editors/space_userpref/userpref_intern.h
index 66f394af0e4..fc6d218b20c 100644
--- a/source/blender/editors/space_userpref/userpref_intern.h
+++ b/source/blender/editors/space_userpref/userpref_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_userpref/userpref_ops.c b/source/blender/editors/space_userpref/userpref_ops.c
index 0f0cbc0ee3f..8dd6c3c0271 100644
--- a/source/blender/editors/space_userpref/userpref_ops.c
+++ b/source/blender/editors/space_userpref/userpref_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/CMakeLists.txt b/source/blender/editors/space_view3d/CMakeLists.txt
index c6e936606c8..f1ef35936fa 100644
--- a/source/blender/editors/space_view3d/CMakeLists.txt
+++ b/source/blender/editors/space_view3d/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/drawanimviz.c b/source/blender/editors/space_view3d/drawanimviz.c
index 4a51cb3be09..30042433ef2 100644
--- a/source/blender/editors/space_view3d/drawanimviz.c
+++ b/source/blender/editors/space_view3d/drawanimviz.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/drawarmature.c b/source/blender/editors/space_view3d/drawarmature.c
index eed86467eaa..a7bb1fb3ee6 100644
--- a/source/blender/editors/space_view3d/drawarmature.c
+++ b/source/blender/editors/space_view3d/drawarmature.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/drawmesh.c b/source/blender/editors/space_view3d/drawmesh.c
index df2a7787f79..670943afdd3 100644
--- a/source/blender/editors/space_view3d/drawmesh.c
+++ b/source/blender/editors/space_view3d/drawmesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -226,7 +224,7 @@ static int set_draw_settings_cached(int clearcache, MTFace *texface, Material *m
 	static int c_lit;
 
 	Object *litob = NULL; //to get mode to turn off mipmap in painting mode
-	int backculled = 0;
+	int backculled = GEMAT_BACKCULL;
 	int alphablend = 0;
 	int textured = 0;
 	int lit = 0;
diff --git a/source/blender/editors/space_view3d/drawobject.c b/source/blender/editors/space_view3d/drawobject.c
index 04531bf5ab2..a6424b183d1 100644
--- a/source/blender/editors/space_view3d/drawobject.c
+++ b/source/blender/editors/space_view3d/drawobject.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/drawvolume.c b/source/blender/editors/space_view3d/drawvolume.c
index e87ace19edb..7c89ce0f689 100644
--- a/source/blender/editors/space_view3d/drawvolume.c
+++ b/source/blender/editors/space_view3d/drawvolume.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/space_view3d.c b/source/blender/editors/space_view3d/space_view3d.c
index c46b6b6d70b..f868cda485f 100644
--- a/source/blender/editors/space_view3d/space_view3d.c
+++ b/source/blender/editors/space_view3d/space_view3d.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_buttons.c b/source/blender/editors/space_view3d/view3d_buttons.c
index 0ad36657196..5e0a32c41c8 100644
--- a/source/blender/editors/space_view3d/view3d_buttons.c
+++ b/source/blender/editors/space_view3d/view3d_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_draw.c b/source/blender/editors/space_view3d/view3d_draw.c
index 291ef7a3bbf..20b1df6ef2c 100644
--- a/source/blender/editors/space_view3d/view3d_draw.c
+++ b/source/blender/editors/space_view3d/view3d_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_edit.c b/source/blender/editors/space_view3d/view3d_edit.c
index 115b3756029..99f11554aa6 100644
--- a/source/blender/editors/space_view3d/view3d_edit.c
+++ b/source/blender/editors/space_view3d/view3d_edit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_fly.c b/source/blender/editors/space_view3d/view3d_fly.c
index 8e2a9c30193..e9db9fe1d7e 100644
--- a/source/blender/editors/space_view3d/view3d_fly.c
+++ b/source/blender/editors/space_view3d/view3d_fly.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_header.c b/source/blender/editors/space_view3d/view3d_header.c
index 55f49654f32..fa6611b9925 100644
--- a/source/blender/editors/space_view3d/view3d_header.c
+++ b/source/blender/editors/space_view3d/view3d_header.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_intern.h b/source/blender/editors/space_view3d/view3d_intern.h
index ab3ce37ff15..b087c7ac873 100644
--- a/source/blender/editors/space_view3d/view3d_intern.h
+++ b/source/blender/editors/space_view3d/view3d_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_ops.c b/source/blender/editors/space_view3d/view3d_ops.c
index 8416b37fd5e..6e26fb15873 100644
--- a/source/blender/editors/space_view3d/view3d_ops.c
+++ b/source/blender/editors/space_view3d/view3d_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -163,17 +161,6 @@ void view3d_keymap(wmKeyConfig *keyconf)
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_view_all", HOMEKEY, KM_PRESS, 0, 0)->ptr, "center", 0); /* only without camera view */
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_view_all", CKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "center", 1);
 
-	/* 3D mouse */
-	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_orbit", NDOF_MOTION, 0, 0, 0);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_pan", NDOF_MOTION, 0, KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_view_selected", NDOF_BUTTON_FIT, KM_PRESS, 0, 0);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_FRONT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_FRONT);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BACK, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BACK);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_LEFT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_LEFT);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_RIGHT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_RIGHT);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_TOP, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_TOP);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BOTTOM, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BOTTOM);
-
 	/* numpad view hotkeys*/
 	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", PAD0, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_CAMERA);
 	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", PAD1, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_FRONT);
@@ -222,6 +209,17 @@ void view3d_keymap(wmKeyConfig *keyconf)
 	kmi= WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", PAD7, KM_PRESS, KM_SHIFT|KM_CTRL, 0);
 	RNA_enum_set(kmi->ptr, "type", RV3D_VIEW_BOTTOM);
 	RNA_boolean_set(kmi->ptr, "align_active", TRUE);
+	
+	/* 3D mouse */
+	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_orbit", NDOF_MOTION, 0, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_ndof_pan", NDOF_MOTION, 0, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_view_selected", NDOF_BUTTON_FIT, KM_PRESS, 0, 0);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_FRONT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_FRONT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BACK, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BACK);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_LEFT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_LEFT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_RIGHT, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_RIGHT);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_TOP, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_TOP);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_BOTTOM, KM_PRESS, 0, 0)->ptr, "type", RV3D_VIEW_BOTTOM);
 
 	/* 3D mouse align */
 	kmi= WM_keymap_add_item(keymap, "VIEW3D_OT_viewnumpad", NDOF_BUTTON_FRONT, KM_PRESS, KM_SHIFT, 0);
diff --git a/source/blender/editors/space_view3d/view3d_select.c b/source/blender/editors/space_view3d/view3d_select.c
index 4f5e98a24ce..94d3469dc8c 100644
--- a/source/blender/editors/space_view3d/view3d_select.c
+++ b/source/blender/editors/space_view3d/view3d_select.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_snap.c b/source/blender/editors/space_view3d/view3d_snap.c
index c69d2159ac2..8000a3b03f1 100644
--- a/source/blender/editors/space_view3d/view3d_snap.c
+++ b/source/blender/editors/space_view3d/view3d_snap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_toolbar.c b/source/blender/editors/space_view3d/view3d_toolbar.c
index 58058722a82..5d65202d7df 100644
--- a/source/blender/editors/space_view3d/view3d_toolbar.c
+++ b/source/blender/editors/space_view3d/view3d_toolbar.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/space_view3d/view3d_view.c b/source/blender/editors/space_view3d/view3d_view.c
index bec1206a983..93c577619de 100644
--- a/source/blender/editors/space_view3d/view3d_view.c
+++ b/source/blender/editors/space_view3d/view3d_view.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/CMakeLists.txt b/source/blender/editors/transform/CMakeLists.txt
index c4305ed6a9f..a659afbbada 100644
--- a/source/blender/editors/transform/CMakeLists.txt
+++ b/source/blender/editors/transform/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c
index e3eb14e2fe6..2fc1182a280 100644
--- a/source/blender/editors/transform/transform.c
+++ b/source/blender/editors/transform/transform.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform.h b/source/blender/editors/transform/transform.h
index 7fccbcb0097..77e7cfb4d12 100644
--- a/source/blender/editors/transform/transform.h
+++ b/source/blender/editors/transform/transform.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_constraints.c b/source/blender/editors/transform/transform_constraints.c
index a06de9fa1ce..bfb96149ed3 100644
--- a/source/blender/editors/transform/transform_constraints.c
+++ b/source/blender/editors/transform/transform_constraints.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c
index 1d28b594e57..a9f9208346c 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_generics.c b/source/blender/editors/transform/transform_generics.c
index b5f622b747b..103556accd8 100644
--- a/source/blender/editors/transform/transform_generics.c
+++ b/source/blender/editors/transform/transform_generics.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_input.c b/source/blender/editors/transform/transform_input.c
index 1c3241237f5..cc3ffe086f1 100644
--- a/source/blender/editors/transform/transform_input.c
+++ b/source/blender/editors/transform/transform_input.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_manipulator.c b/source/blender/editors/transform/transform_manipulator.c
index 36373562956..5b275a572cb 100644
--- a/source/blender/editors/transform/transform_manipulator.c
+++ b/source/blender/editors/transform/transform_manipulator.c
@@ -1,6 +1,4 @@
 /*
-* $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_ops.c b/source/blender/editors/transform/transform_ops.c
index d6e8e4aa695..2d3c1d80d8d 100644
--- a/source/blender/editors/transform/transform_ops.c
+++ b/source/blender/editors/transform/transform_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_orientations.c b/source/blender/editors/transform/transform_orientations.c
index 3a7fad24d6b..a09778726d5 100644
--- a/source/blender/editors/transform/transform_orientations.c
+++ b/source/blender/editors/transform/transform_orientations.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/transform/transform_snap.c b/source/blender/editors/transform/transform_snap.c
index 4342d0de751..fa19d12d5ad 100644
--- a/source/blender/editors/transform/transform_snap.c
+++ b/source/blender/editors/transform/transform_snap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/CMakeLists.txt b/source/blender/editors/util/CMakeLists.txt
index 72f13c14f5d..69f576d8aa7 100644
--- a/source/blender/editors/util/CMakeLists.txt
+++ b/source/blender/editors/util/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/crazyspace.c b/source/blender/editors/util/crazyspace.c
index 53ccd37952d..9ca990c4193 100644
--- a/source/blender/editors/util/crazyspace.c
+++ b/source/blender/editors/util/crazyspace.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/ed_util.c b/source/blender/editors/util/ed_util.c
index d46f4b0ed30..fef42866e29 100644
--- a/source/blender/editors/util/ed_util.c
+++ b/source/blender/editors/util/ed_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/editmode_undo.c b/source/blender/editors/util/editmode_undo.c
index f38ae136f71..a312b0abbb4 100644
--- a/source/blender/editors/util/editmode_undo.c
+++ b/source/blender/editors/util/editmode_undo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/numinput.c b/source/blender/editors/util/numinput.c
index 1b58a1e2a58..6c8713aa03e 100644
--- a/source/blender/editors/util/numinput.c
+++ b/source/blender/editors/util/numinput.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/undo.c b/source/blender/editors/util/undo.c
index 55fda84874d..6a1819736a2 100644
--- a/source/blender/editors/util/undo.c
+++ b/source/blender/editors/util/undo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/util/util_intern.h b/source/blender/editors/util/util_intern.h
index bfa758b3faa..3e2833ec89a 100644
--- a/source/blender/editors/util/util_intern.h
+++ b/source/blender/editors/util/util_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/CMakeLists.txt b/source/blender/editors/uvedit/CMakeLists.txt
index 552e1b60154..ce078c2b1f1 100644
--- a/source/blender/editors/uvedit/CMakeLists.txt
+++ b/source/blender/editors/uvedit/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/uvedit_buttons.c b/source/blender/editors/uvedit/uvedit_buttons.c
index 5380f514a73..a6712bf8efa 100644
--- a/source/blender/editors/uvedit/uvedit_buttons.c
+++ b/source/blender/editors/uvedit/uvedit_buttons.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/uvedit_draw.c b/source/blender/editors/uvedit/uvedit_draw.c
index d5a94c9b56a..8a50ec28bd6 100644
--- a/source/blender/editors/uvedit/uvedit_draw.c
+++ b/source/blender/editors/uvedit/uvedit_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/uvedit_intern.h b/source/blender/editors/uvedit/uvedit_intern.h
index 58626ccbf64..7d83f529d92 100644
--- a/source/blender/editors/uvedit/uvedit_intern.h
+++ b/source/blender/editors/uvedit/uvedit_intern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/uvedit_ops.c b/source/blender/editors/uvedit/uvedit_ops.c
index b1d7ab7f786..3593d94b400 100644
--- a/source/blender/editors/uvedit/uvedit_ops.c
+++ b/source/blender/editors/uvedit/uvedit_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/editors/uvedit/uvedit_unwrap_ops.c b/source/blender/editors/uvedit/uvedit_unwrap_ops.c
index 7f6394e822b..29a9ae84cd5 100644
--- a/source/blender/editors/uvedit/uvedit_unwrap_ops.c
+++ b/source/blender/editors/uvedit/uvedit_unwrap_ops.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/CMakeLists.txt b/source/blender/gpu/CMakeLists.txt
index 8f575dfb50b..557b22e3a2e 100644
--- a/source/blender/gpu/CMakeLists.txt
+++ b/source/blender/gpu/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 14444 2008-04-16 22:40:48Z hos $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/GPU_buffers.h b/source/blender/gpu/GPU_buffers.h
index 6cee9e95cf6..7dabb9898cc 100644
--- a/source/blender/gpu/GPU_buffers.h
+++ b/source/blender/gpu/GPU_buffers.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/GPU_draw.h b/source/blender/gpu/GPU_draw.h
index 55c4ff85a57..5813fe21265 100644
--- a/source/blender/gpu/GPU_draw.h
+++ b/source/blender/gpu/GPU_draw.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This shader is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/GPU_extensions.h b/source/blender/gpu/GPU_extensions.h
index 5a1c0c537c0..965f317aa50 100644
--- a/source/blender/gpu/GPU_extensions.h
+++ b/source/blender/gpu/GPU_extensions.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This shader is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/GPU_material.h b/source/blender/gpu/GPU_material.h
index 29ad9c91374..00c47a2501f 100644
--- a/source/blender/gpu/GPU_material.h
+++ b/source/blender/gpu/GPU_material.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This shader is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_buffers.c b/source/blender/gpu/intern/gpu_buffers.c
index 2bf62b73424..d833fb5eb04 100644
--- a/source/blender/gpu/intern/gpu_buffers.c
+++ b/source/blender/gpu/intern/gpu_buffers.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_codegen.c b/source/blender/gpu/intern/gpu_codegen.c
index b47f6687720..78f5eb52d52 100644
--- a/source/blender/gpu/intern/gpu_codegen.c
+++ b/source/blender/gpu/intern/gpu_codegen.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_codegen.h b/source/blender/gpu/intern/gpu_codegen.h
index 1e44eba89d4..06378b088de 100644
--- a/source/blender/gpu/intern/gpu_codegen.h
+++ b/source/blender/gpu/intern/gpu_codegen.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_draw.c b/source/blender/gpu/intern/gpu_draw.c
index c5d62559056..4c828264061 100644
--- a/source/blender/gpu/intern/gpu_draw.c
+++ b/source/blender/gpu/intern/gpu_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_extensions.c b/source/blender/gpu/intern/gpu_extensions.c
index 9cd6240d37d..6189062a855 100644
--- a/source/blender/gpu/intern/gpu_extensions.c
+++ b/source/blender/gpu/intern/gpu_extensions.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/gpu/intern/gpu_material.c b/source/blender/gpu/intern/gpu_material.c
index a792b51e1cf..d0f834977c8 100644
--- a/source/blender/gpu/intern/gpu_material.c
+++ b/source/blender/gpu/intern/gpu_material.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/BIK_api.h b/source/blender/ikplugin/BIK_api.h
index 413eb3c24f4..4b90b2546ff 100644
--- a/source/blender/ikplugin/BIK_api.h
+++ b/source/blender/ikplugin/BIK_api.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/CMakeLists.txt b/source/blender/ikplugin/CMakeLists.txt
index dc637aedd6d..87b0c6c671a 100644
--- a/source/blender/ikplugin/CMakeLists.txt
+++ b/source/blender/ikplugin/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 20156 2009-05-11 16:31:30Z ben2610 $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -50,7 +49,7 @@ set(SRC
 if(WITH_IK_ITASC)
 	add_definitions(-DWITH_IK_ITASC)
 	list(APPEND INC
-		../../../extern/Eigen2
+		../../../extern/Eigen3
 		../../../intern/itasc
 	)
 	list(APPEND SRC
@@ -58,4 +57,8 @@ if(WITH_IK_ITASC)
 	)
 endif()
 
+if(WIN32)
+	add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY)
+endif()
+
 blender_add_lib(bf_ikplugin "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/source/blender/ikplugin/SConscript b/source/blender/ikplugin/SConscript
index f60c42f8dc9..4cff3399fdc 100644
--- a/source/blender/ikplugin/SConscript
+++ b/source/blender/ikplugin/SConscript
@@ -4,8 +4,11 @@ defs = []
 sources = env.Glob('intern/*.c') + env.Glob('intern/*.cpp')
 
 incs = '#/intern/guardedalloc #/intern/iksolver/extern ../makesdna ../blenlib'
-incs += ' ../blenkernel ../include ../ikplugin #/intern/itasc #/extern/Eigen2'
+incs += ' ../blenkernel ../include ../ikplugin #/intern/itasc #/extern/Eigen3'
 
 defs.append('WITH_IK_ITASC')
 
+if env['PLATFORM'] == 'win32':
+    defs.append('EIGEN_DONT_ALIGN_STATICALLY')
+
 env.BlenderLib ( 'bf_ikplugin', sources, Split(incs), defs, libtype=['core','player'], priority=[180, 190] )
diff --git a/source/blender/ikplugin/intern/ikplugin_api.c b/source/blender/ikplugin/intern/ikplugin_api.c
index f5b6715be9c..147c2b50e31 100644
--- a/source/blender/ikplugin/intern/ikplugin_api.c
+++ b/source/blender/ikplugin/intern/ikplugin_api.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/intern/ikplugin_api.h b/source/blender/ikplugin/intern/ikplugin_api.h
index f8f9b2447bf..b1e723289ec 100644
--- a/source/blender/ikplugin/intern/ikplugin_api.h
+++ b/source/blender/ikplugin/intern/ikplugin_api.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c
index 6d915a18f78..cfaafe9bf5c 100644
--- a/source/blender/ikplugin/intern/iksolver_plugin.c
+++ b/source/blender/ikplugin/intern/iksolver_plugin.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/intern/iksolver_plugin.h b/source/blender/ikplugin/intern/iksolver_plugin.h
index 8b7bd0bff6c..885383ab65e 100644
--- a/source/blender/ikplugin/intern/iksolver_plugin.h
+++ b/source/blender/ikplugin/intern/iksolver_plugin.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp
index a456e18498b..400e720f138 100644
--- a/source/blender/ikplugin/intern/itasc_plugin.cpp
+++ b/source/blender/ikplugin/intern/itasc_plugin.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/ikplugin/intern/itasc_plugin.h b/source/blender/ikplugin/intern/itasc_plugin.h
index a32343c1a09..1d6acb2cce3 100644
--- a/source/blender/ikplugin/intern/itasc_plugin.h
+++ b/source/blender/ikplugin/intern/itasc_plugin.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/CMakeLists.txt b/source/blender/imbuf/CMakeLists.txt
index 26be64bc268..a03d6ce280d 100644
--- a/source/blender/imbuf/CMakeLists.txt
+++ b/source/blender/imbuf/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -24,11 +23,6 @@
 #
 # ***** END GPL LICENSE BLOCK *****
 
-if(WITH_CODEC_FFMPEG)
-	# FFMPEG gives warnigns which are hard to avoid across multiple versions.
-	remove_strict_flags()
-endif()
-
 set(INC 
 	.
 	../avi
@@ -62,6 +56,7 @@ set(SRC
 	intern/md5.c
 	intern/metadata.c
 	intern/module.c
+	intern/moviecache.c
 	intern/png.c
 	intern/readimage.c
 	intern/rectop.c
@@ -75,6 +70,7 @@ set(SRC
 
 	IMB_imbuf.h
 	IMB_imbuf_types.h
+	IMB_moviecache.h
 	IMB_thumbs.h
 	intern/IMB_allocimbuf.h
 	intern/IMB_anim.h
@@ -159,6 +155,12 @@ if(WITH_CODEC_FFMPEG)
 		${FFMPEG_INCLUDE_DIRS}
 	)
 	add_definitions(-DWITH_FFMPEG)
+
+	remove_strict_flags_file(
+		intern/indexer.c
+		intern/util.c
+		intern/anim_movie.c
+	)
 endif()
 
 if(WITH_IMAGE_DDS)
diff --git a/source/blender/imbuf/IMB_imbuf.h b/source/blender/imbuf/IMB_imbuf.h
index 2c926f2d94b..5f03ca9ba28 100644
--- a/source/blender/imbuf/IMB_imbuf.h
+++ b/source/blender/imbuf/IMB_imbuf.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -139,19 +137,6 @@ struct ImBuf * IMB_makeSingleUser(struct ImBuf *ibuf);
  *
  * @attention Defined in allocimbuf.c
  */
-void IMB_cache_limiter_insert(struct ImBuf *i);
-void IMB_cache_limiter_unmanage(struct ImBuf *i);
-void IMB_cache_limiter_touch(struct ImBuf *i);
-void IMB_cache_limiter_ref(struct ImBuf *i);
-void IMB_cache_limiter_unref(struct ImBuf *i);
-int IMB_cache_limiter_get_refcount(struct ImBuf *i);
-
-void IMB_free_cache_limiter(void);
-
-/**
- *
- * @attention Defined in allocimbuf.c
- */
 struct ImBuf *IMB_dupImBuf(struct ImBuf *ibuf1);
 
 /**
diff --git a/source/blender/imbuf/IMB_imbuf_types.h b/source/blender/imbuf/IMB_imbuf_types.h
index f5e2bf71468..59899dc7490 100644
--- a/source/blender/imbuf/IMB_imbuf_types.h
+++ b/source/blender/imbuf/IMB_imbuf_types.h
@@ -11,7 +11,6 @@
  * are self-explanatory (e.g. IS_amiga tests whether the buffer
  * contains an Amiga-format file).
  *
- * $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/IMB_moviecache.h b/source/blender/imbuf/IMB_moviecache.h
new file mode 100644
index 00000000000..309c6ee550e
--- /dev/null
+++ b/source/blender/imbuf/IMB_moviecache.h
@@ -0,0 +1,56 @@
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2011 Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Blender Foundation,
+ *                 Sergey Sharybin
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef IMB_MOVIECACHE_H
+#define IMB_MOVIECACHE_H
+
+/** \file IMB_moviecache.h
+ *  \ingroup imbuf
+ *  \author Sergey Sharybin
+ */
+
+#include "BLI_utildefines.h"
+#include "BLI_ghash.h"
+
+/* Cache system for movie data - now supports stoting ImBufs only
+   Supposed to provide unified cache system for movie clips, sequencer and
+   other movie-related areas */
+
+struct ImBuf;
+struct MovieCache;
+
+typedef void (*MovieCacheGetKeyDataFP) (void *userkey, int *framenr, int *proxy, int *render_flags);
+
+void IMB_moviecache_init(void);
+void IMB_moviecache_destruct(void);
+
+struct MovieCache *IMB_moviecache_create(int keysize, GHashHashFP hashfp, GHashCmpFP cmpfp, MovieCacheGetKeyDataFP getdatafp);
+void IMB_moviecache_put(struct MovieCache *cache, void *userkey, struct ImBuf *ibuf);
+struct ImBuf* IMB_moviecache_get(struct MovieCache *cache, void *userkey);
+void IMB_moviecache_free(struct MovieCache *cache);
+void IMB_moviecache_get_cache_segments(struct MovieCache *cache, int proxy, int render_flags, int *totseg_r, int **points_r);
+
+#endif
diff --git a/source/blender/imbuf/IMB_thumbs.h b/source/blender/imbuf/IMB_thumbs.h
index f5e63b73cb1..ad620007abe 100644
--- a/source/blender/imbuf/IMB_thumbs.h
+++ b/source/blender/imbuf/IMB_thumbs.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/IMB_allocimbuf.h b/source/blender/imbuf/intern/IMB_allocimbuf.h
index bfe53f30321..c2f1d2a1f51 100644
--- a/source/blender/imbuf/intern/IMB_allocimbuf.h
+++ b/source/blender/imbuf/intern/IMB_allocimbuf.h
@@ -1,7 +1,6 @@
 /*
  * allocimbuf.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/IMB_anim.h b/source/blender/imbuf/intern/IMB_anim.h
index 05ba4b0d05f..5a410a6a583 100644
--- a/source/blender/imbuf/intern/IMB_anim.h
+++ b/source/blender/imbuf/intern/IMB_anim.h
@@ -1,7 +1,6 @@
 /*
  * allocimbuf.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/IMB_filetype.h b/source/blender/imbuf/intern/IMB_filetype.h
index cf0d0990d33..4cd10ad01d0 100644
--- a/source/blender/imbuf/intern/IMB_filetype.h
+++ b/source/blender/imbuf/intern/IMB_filetype.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/IMB_filter.h b/source/blender/imbuf/intern/IMB_filter.h
index 0d414cb4702..a9e9e0ae776 100644
--- a/source/blender/imbuf/intern/IMB_filter.h
+++ b/source/blender/imbuf/intern/IMB_filter.h
@@ -1,7 +1,6 @@
 /*
  * filter.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/IMB_indexer.h b/source/blender/imbuf/intern/IMB_indexer.h
index 08fa51966f2..5c76f33a319 100644
--- a/source/blender/imbuf/intern/IMB_indexer.h
+++ b/source/blender/imbuf/intern/IMB_indexer.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/IMB_metadata.h b/source/blender/imbuf/intern/IMB_metadata.h
index 723124bd2f5..0f57b8f654a 100644
--- a/source/blender/imbuf/intern/IMB_metadata.h
+++ b/source/blender/imbuf/intern/IMB_metadata.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/allocimbuf.c b/source/blender/imbuf/intern/allocimbuf.c
index 6ce6c9409d1..1d82c862dbd 100644
--- a/source/blender/imbuf/intern/allocimbuf.c
+++ b/source/blender/imbuf/intern/allocimbuf.c
@@ -1,7 +1,6 @@
 /*
  * allocimbuf.c
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -165,8 +164,9 @@ void IMB_freeImBuf(ImBuf *ibuf)
 			IMB_freezbufImBuf(ibuf);
 			IMB_freezbuffloatImBuf(ibuf);
 			freeencodedbufferImBuf(ibuf);
-			IMB_cache_limiter_unmanage(ibuf);
 			IMB_metadata_free(ibuf);
+			if (ibuf->dds_data.data != NULL)
+				free(ibuf->dds_data.data);
 			MEM_freeN(ibuf);
 		}
 	}
@@ -468,60 +468,7 @@ static MEM_CacheLimiterC **get_imbuf_cache_limiter(void)
 	static MEM_CacheLimiterC *c = NULL;
 
 	if(!c)
-		c = new_MEM_CacheLimiter(imbuf_cache_destructor);
+		c = new_MEM_CacheLimiter(imbuf_cache_destructor, NULL);
 
 	return &c;
 }
-
-void IMB_free_cache_limiter(void)
-{
-	delete_MEM_CacheLimiter(*get_imbuf_cache_limiter());
-	*get_imbuf_cache_limiter() = NULL;
-}
-
-void IMB_cache_limiter_insert(ImBuf *i)
-{
-	if(!i->c_handle) {
-		i->c_handle = MEM_CacheLimiter_insert(
-			*get_imbuf_cache_limiter(), i);
-		MEM_CacheLimiter_ref(i->c_handle);
-		MEM_CacheLimiter_enforce_limits(
-			*get_imbuf_cache_limiter());
-		MEM_CacheLimiter_unref(i->c_handle);
-	}
-}
-
-void IMB_cache_limiter_unmanage(ImBuf *i)
-{
-	if(i->c_handle) {
-		MEM_CacheLimiter_unmanage(i->c_handle);
-		i->c_handle = NULL;
-	}
-}
-
-void IMB_cache_limiter_touch(ImBuf *i)
-{
-	if(i->c_handle)
-		MEM_CacheLimiter_touch(i->c_handle);
-}
-
-void IMB_cache_limiter_ref(ImBuf *i)
-{
-	if(i->c_handle)
-		MEM_CacheLimiter_ref(i->c_handle);
-}
-
-void IMB_cache_limiter_unref(ImBuf *i)
-{
-	if(i->c_handle)
-		MEM_CacheLimiter_unref(i->c_handle);
-}
-
-int IMB_cache_limiter_get_refcount(ImBuf *i)
-{
-	if(i->c_handle)
-		return MEM_CacheLimiter_get_refcount(i->c_handle);
-
-	return 0;
-}
-
diff --git a/source/blender/imbuf/intern/anim_movie.c b/source/blender/imbuf/intern/anim_movie.c
index 34c39b1083a..e1592d221fb 100644
--- a/source/blender/imbuf/intern/anim_movie.c
+++ b/source/blender/imbuf/intern/anim_movie.c
@@ -1,7 +1,6 @@
 /*
  * anim.c
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/bmp.c b/source/blender/imbuf/intern/bmp.c
index bfec60245b8..a9c2d72b188 100644
--- a/source/blender/imbuf/intern/bmp.c
+++ b/source/blender/imbuf/intern/bmp.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/cache.c b/source/blender/imbuf/intern/cache.c
index 0b53c6bf79c..7213979b500 100644
--- a/source/blender/imbuf/intern/cache.c
+++ b/source/blender/imbuf/intern/cache.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/cineon/CMakeLists.txt b/source/blender/imbuf/intern/cineon/CMakeLists.txt
index 4f7f20beecf..fdf4f5409a5 100644
--- a/source/blender/imbuf/intern/cineon/CMakeLists.txt
+++ b/source/blender/imbuf/intern/cineon/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/cineon/cineon_dpx.c b/source/blender/imbuf/intern/cineon/cineon_dpx.c
index 8df2a9f6985..af964bb2bb3 100644
--- a/source/blender/imbuf/intern/cineon/cineon_dpx.c
+++ b/source/blender/imbuf/intern/cineon/cineon_dpx.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -27,7 +26,6 @@
  * cineon.c
  * contributors: joeedh
  * I hearby donate this code and all rights to the Blender Foundation.
- * $Id$
  */
 
 /** \file blender/imbuf/intern/cineon/cineon_dpx.c
diff --git a/source/blender/imbuf/intern/dds/BlockDXT.cpp b/source/blender/imbuf/intern/dds/BlockDXT.cpp
index 0d17f16532b..2ea255234e5 100644
--- a/source/blender/imbuf/intern/dds/BlockDXT.cpp
+++ b/source/blender/imbuf/intern/dds/BlockDXT.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/BlockDXT.h b/source/blender/imbuf/intern/dds/BlockDXT.h
index aa0c1c509ca..cdf839ce9b4 100644
--- a/source/blender/imbuf/intern/dds/BlockDXT.h
+++ b/source/blender/imbuf/intern/dds/BlockDXT.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/CMakeLists.txt b/source/blender/imbuf/intern/dds/CMakeLists.txt
index 53822b830f7..ae5f1ca9d09 100644
--- a/source/blender/imbuf/intern/dds/CMakeLists.txt
+++ b/source/blender/imbuf/intern/dds/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 14444 2008-04-16 22:40:48Z hos $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Color.h b/source/blender/imbuf/intern/dds/Color.h
index 42ed34daf76..b23a5a32bdc 100644
--- a/source/blender/imbuf/intern/dds/Color.h
+++ b/source/blender/imbuf/intern/dds/Color.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/ColorBlock.cpp b/source/blender/imbuf/intern/dds/ColorBlock.cpp
index edb69934231..b0c4d0a396e 100644
--- a/source/blender/imbuf/intern/dds/ColorBlock.cpp
+++ b/source/blender/imbuf/intern/dds/ColorBlock.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/ColorBlock.h b/source/blender/imbuf/intern/dds/ColorBlock.h
index d4e4e8a809f..eb483f559c2 100644
--- a/source/blender/imbuf/intern/dds/ColorBlock.h
+++ b/source/blender/imbuf/intern/dds/ColorBlock.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Common.h b/source/blender/imbuf/intern/dds/Common.h
index a6dcf69febf..8c307e346f0 100644
--- a/source/blender/imbuf/intern/dds/Common.h
+++ b/source/blender/imbuf/intern/dds/Common.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/DirectDrawSurface.cpp b/source/blender/imbuf/intern/dds/DirectDrawSurface.cpp
index 44e029bd7ce..3e017d5af82 100644
--- a/source/blender/imbuf/intern/dds/DirectDrawSurface.cpp
+++ b/source/blender/imbuf/intern/dds/DirectDrawSurface.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/DirectDrawSurface.h b/source/blender/imbuf/intern/dds/DirectDrawSurface.h
index 5978e780991..8b8388c9f89 100644
--- a/source/blender/imbuf/intern/dds/DirectDrawSurface.h
+++ b/source/blender/imbuf/intern/dds/DirectDrawSurface.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Image.cpp b/source/blender/imbuf/intern/dds/Image.cpp
index b9ec1c0c3aa..6954030aaa2 100644
--- a/source/blender/imbuf/intern/dds/Image.cpp
+++ b/source/blender/imbuf/intern/dds/Image.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Image.h b/source/blender/imbuf/intern/dds/Image.h
index 96e455fc75b..e932e1122f2 100644
--- a/source/blender/imbuf/intern/dds/Image.h
+++ b/source/blender/imbuf/intern/dds/Image.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/PixelFormat.h b/source/blender/imbuf/intern/dds/PixelFormat.h
index 35c6eacb972..c76c7994ed2 100644
--- a/source/blender/imbuf/intern/dds/PixelFormat.h
+++ b/source/blender/imbuf/intern/dds/PixelFormat.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Stream.cpp b/source/blender/imbuf/intern/dds/Stream.cpp
index 497109efd25..00e1b679c69 100644
--- a/source/blender/imbuf/intern/dds/Stream.cpp
+++ b/source/blender/imbuf/intern/dds/Stream.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/Stream.h b/source/blender/imbuf/intern/dds/Stream.h
index ca081d331fe..1c789ac948f 100644
--- a/source/blender/imbuf/intern/dds/Stream.h
+++ b/source/blender/imbuf/intern/dds/Stream.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/dds_api.cpp b/source/blender/imbuf/intern/dds/dds_api.cpp
index 73ee3a2cb9c..b7a3d0e43ba 100644
--- a/source/blender/imbuf/intern/dds/dds_api.cpp
+++ b/source/blender/imbuf/intern/dds/dds_api.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/dds/dds_api.h b/source/blender/imbuf/intern/dds/dds_api.h
index d78e4f31474..e477a4b8003 100644
--- a/source/blender/imbuf/intern/dds/dds_api.h
+++ b/source/blender/imbuf/intern/dds/dds_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/divers.c b/source/blender/imbuf/intern/divers.c
index 7fc7669601d..8c5f2dcafd6 100644
--- a/source/blender/imbuf/intern/divers.c
+++ b/source/blender/imbuf/intern/divers.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * allocimbuf.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/divers.c
diff --git a/source/blender/imbuf/intern/filetype.c b/source/blender/imbuf/intern/filetype.c
index c5121189952..c03736f4b0a 100644
--- a/source/blender/imbuf/intern/filetype.c
+++ b/source/blender/imbuf/intern/filetype.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/filter.c b/source/blender/imbuf/intern/filter.c
index 3719242aaba..479c7ed5626 100644
--- a/source/blender/imbuf/intern/filter.c
+++ b/source/blender/imbuf/intern/filter.c
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -28,7 +27,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * filter.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/filter.c
diff --git a/source/blender/imbuf/intern/imageprocess.c b/source/blender/imbuf/intern/imageprocess.c
index 49f81edd4b2..9dad21aa728 100644
--- a/source/blender/imbuf/intern/imageprocess.c
+++ b/source/blender/imbuf/intern/imageprocess.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -39,7 +38,6 @@
  * 
  *  april 95
  * 
- * $Id$
  */
 
 #include <stdlib.h>
diff --git a/source/blender/imbuf/intern/imbuf.h b/source/blender/imbuf/intern/imbuf.h
index 22481241812..c1afecf621f 100644
--- a/source/blender/imbuf/intern/imbuf.h
+++ b/source/blender/imbuf/intern/imbuf.h
@@ -3,7 +3,6 @@
  *
  * This header might have to become external...
  *
- * $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/imbuf_cocoa.m b/source/blender/imbuf/intern/imbuf_cocoa.m
index 9b627612d2a..7005558d753 100644
--- a/source/blender/imbuf/intern/imbuf_cocoa.m
+++ b/source/blender/imbuf/intern/imbuf_cocoa.m
@@ -1,7 +1,5 @@
 /*
  * imbuf_coca.m
- *
- * $Id$
  * 
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/indexer.c b/source/blender/imbuf/intern/indexer.c
index e4abd8b329d..3a94c79f48d 100644
--- a/source/blender/imbuf/intern/indexer.c
+++ b/source/blender/imbuf/intern/indexer.c
@@ -1,12 +1,10 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
  * as published by the Free Software Foundation; either version 2
-  * of the License, or (at your option) any later version.
+ * of the License, or (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -22,7 +20,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #include "IMB_indexer.h"
 #include "IMB_anim.h"
@@ -454,7 +452,7 @@ static int round_up(int x, int mod)
 static struct proxy_output_ctx * alloc_proxy_output_ffmpeg(
 	struct anim * anim,
 	AVStream * st, int proxy_size, int width, int height,
-	int quality)
+	int UNUSED(quality))
 {
 	struct proxy_output_ctx * rv = MEM_callocN(
 		sizeof(struct proxy_output_ctx), "alloc_proxy_output");
diff --git a/source/blender/imbuf/intern/indexer_dv.c b/source/blender/imbuf/intern/indexer_dv.c
index aa258a6b9ee..4ccd8ec464d 100644
--- a/source/blender/imbuf/intern/indexer_dv.c
+++ b/source/blender/imbuf/intern/indexer_dv.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -22,7 +20,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #include "IMB_indexer.h"
 #include "MEM_guardedalloc.h"
diff --git a/source/blender/imbuf/intern/iris.c b/source/blender/imbuf/intern/iris.c
index c6aaf336fb7..cf7337a574b 100644
--- a/source/blender/imbuf/intern/iris.c
+++ b/source/blender/imbuf/intern/iris.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,9 +23,6 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
- * iris.c
- *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/iris.c
diff --git a/source/blender/imbuf/intern/jp2.c b/source/blender/imbuf/intern/jp2.c
index 4872896bf3a..151933d6651 100644
--- a/source/blender/imbuf/intern/jp2.c
+++ b/source/blender/imbuf/intern/jp2.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/jpeg.c b/source/blender/imbuf/intern/jpeg.c
index 53d4a403190..d9bd0b9cda4 100644
--- a/source/blender/imbuf/intern/jpeg.c
+++ b/source/blender/imbuf/intern/jpeg.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,9 +23,6 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
- * jpeg.c
- *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/jpeg.c
diff --git a/source/blender/imbuf/intern/metadata.c b/source/blender/imbuf/intern/metadata.c
index 9faab6eec48..e6b6e9aa238 100644
--- a/source/blender/imbuf/intern/metadata.c
+++ b/source/blender/imbuf/intern/metadata.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/module.c b/source/blender/imbuf/intern/module.c
index f732500b82e..55a29333620 100644
--- a/source/blender/imbuf/intern/module.c
+++ b/source/blender/imbuf/intern/module.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -39,7 +37,6 @@ void IMB_init(void)
 
 void IMB_exit(void)
 {
-	IMB_free_cache_limiter();
 	imb_tile_cache_exit();
 	imb_filetypes_exit();
 }
diff --git a/source/blender/imbuf/intern/moviecache.c b/source/blender/imbuf/intern/moviecache.c
new file mode 100644
index 00000000000..7492b6aec44
--- /dev/null
+++ b/source/blender/imbuf/intern/moviecache.c
@@ -0,0 +1,382 @@
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2011 Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Blender Foundation,
+ *                 Sergey Sharybin,
+ *                 Peter Schlaile
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/** \file blender/blenkernel/intern/moviecache.c
+ *  \ingroup bke
+ */
+
+#include <stdlib.h> /* for qsort */
+#include <memory.h>
+
+#include "MEM_guardedalloc.h"
+#include "MEM_CacheLimiterC-Api.h"
+
+#include "BLI_utildefines.h"
+#include "BLI_ghash.h"
+#include "BLI_mempool.h"
+
+#include "IMB_moviecache.h"
+
+#include "IMB_imbuf_types.h"
+#include "IMB_imbuf.h"
+
+static MEM_CacheLimiterC *limitor= NULL;
+
+typedef struct MovieCache {
+	GHash *hash;
+	GHashHashFP hashfp;
+	GHashCmpFP cmpfp;
+	MovieCacheGetKeyDataFP getdatafp;
+
+	struct BLI_mempool *keys_pool;
+	struct BLI_mempool *items_pool;
+	struct BLI_mempool *userkeys_pool;
+
+	int keysize;
+	unsigned long curtime;
+
+	int totseg, *points, proxy, render_flags;	/* for visual statistics optimization */
+	int pad;
+} MovieCache;
+
+typedef struct MovieCacheKey {
+	MovieCache *cache_owner;
+	void *userkey;
+} MovieCacheKey;
+
+typedef struct MovieCacheItem {
+	MovieCache *cache_owner;
+	ImBuf *ibuf;
+	MEM_CacheLimiterHandleC * c_handle;
+	unsigned long last_access;
+} MovieCacheItem;
+
+static unsigned int moviecache_hashhash(const void *keyv)
+{
+	MovieCacheKey *key= (MovieCacheKey*)keyv;
+
+	return key->cache_owner->hashfp(key->userkey);
+}
+
+static int moviecache_hashcmp(const void *av, const void *bv)
+{
+	const MovieCacheKey *a= (MovieCacheKey*)av;
+	const MovieCacheKey *b= (MovieCacheKey*)bv;
+
+	return a->cache_owner->cmpfp(a->userkey, b->userkey);
+}
+
+static void moviecache_keyfree(void *val)
+{
+	MovieCacheKey *key= (MovieCacheKey*)val;
+
+	BLI_mempool_free(key->cache_owner->keys_pool, key);
+}
+
+static void moviecache_valfree(void *val)
+{
+	MovieCacheItem *item= (MovieCacheItem*)val;
+
+	if (item->ibuf) {
+		MEM_CacheLimiter_unmanage(item->c_handle);
+		IMB_freeImBuf(item->ibuf);
+	}
+
+	BLI_mempool_free(item->cache_owner->items_pool, item);
+}
+
+static void check_unused_keys(MovieCache *cache)
+{
+	GHashIterator *iter;
+
+	iter= BLI_ghashIterator_new(cache->hash);
+	while(!BLI_ghashIterator_isDone(iter)) {
+		MovieCacheKey *key= BLI_ghashIterator_getKey(iter);
+		MovieCacheItem *item= BLI_ghashIterator_getValue(iter);
+
+		BLI_ghashIterator_step(iter);
+
+		if(!item->ibuf)
+			BLI_ghash_remove(cache->hash, key, moviecache_keyfree, moviecache_valfree);
+	}
+
+	BLI_ghashIterator_free(iter);
+}
+
+static int compare_int(const void *av, const void *bv)
+{
+	const int *a= (int *)av;
+	const int *b= (int *)bv;
+	return *a-*b;
+}
+
+static void IMB_moviecache_destructor(void *p)
+{
+	MovieCacheItem *item= (MovieCacheItem *) p;
+
+	if (item && item->ibuf) {
+		IMB_freeImBuf(item->ibuf);
+
+		item->ibuf= NULL;
+		item->c_handle= NULL;
+	}
+}
+
+/* approximate size of ImBuf in memory */
+static intptr_t IMB_get_size_in_memory(ImBuf *ibuf)
+{
+	int a;
+	intptr_t size= 0, channel_size= 0;
+
+	size+= sizeof(ImBuf);
+
+	if(ibuf->rect)
+		channel_size+= sizeof(char);
+
+	if(ibuf->rect_float)
+		channel_size+= sizeof(float);
+
+	size+= channel_size*ibuf->x*ibuf->y*ibuf->channels;
+
+	if(ibuf->miptot) {
+		for(a= 0; a<ibuf->miptot; a++) {
+			if(ibuf->mipmap[a])
+				size+= IMB_get_size_in_memory(ibuf->mipmap[a]);
+		}
+	}
+
+	if(ibuf->tiles) {
+		size+= sizeof(unsigned int)*ibuf->ytiles*ibuf->xtiles;
+	}
+
+	return size;
+}
+
+static intptr_t get_item_size (void *p)
+{
+	intptr_t size= sizeof(MovieCacheItem);
+	MovieCacheItem *item= (MovieCacheItem *) p;
+
+	if(item->ibuf)
+		size+= IMB_get_size_in_memory(item->ibuf);
+
+	return size;
+}
+
+void IMB_moviecache_init(void)
+{
+	limitor= new_MEM_CacheLimiter(IMB_moviecache_destructor, get_item_size);
+}
+
+void IMB_moviecache_destruct(void)
+{
+	if(limitor)
+		delete_MEM_CacheLimiter(limitor);
+}
+
+struct MovieCache *IMB_moviecache_create(int keysize, GHashHashFP hashfp, GHashCmpFP cmpfp,
+		MovieCacheGetKeyDataFP getdatafp)
+{
+	MovieCache *cache;
+
+	cache= MEM_callocN(sizeof(MovieCache), "MovieCache");
+	cache->keys_pool= BLI_mempool_create(sizeof(MovieCacheKey), 64, 64, 0);
+	cache->items_pool= BLI_mempool_create(sizeof(MovieCacheItem), 64, 64, 0);
+	cache->userkeys_pool= BLI_mempool_create(keysize, 64, 64, 0);
+	cache->hash= BLI_ghash_new(moviecache_hashhash, moviecache_hashcmp, "MovieClip ImBuf cache hash");
+
+	cache->keysize= keysize;
+	cache->hashfp= hashfp;
+	cache->cmpfp= cmpfp;
+	cache->getdatafp= getdatafp;
+	cache->proxy= -1;
+
+	return cache;
+}
+
+void IMB_moviecache_put(MovieCache *cache, void *userkey, ImBuf *ibuf)
+{
+	MovieCacheKey *key;
+	MovieCacheItem *item;
+
+	if(!limitor)
+		IMB_moviecache_init();
+
+	IMB_refImBuf(ibuf);
+
+	key= BLI_mempool_alloc(cache->keys_pool);
+	key->cache_owner= cache;
+	key->userkey= BLI_mempool_alloc(cache->userkeys_pool);;
+	memcpy(key->userkey, userkey, cache->keysize);
+
+	item= BLI_mempool_alloc(cache->items_pool);
+	item->ibuf= ibuf;
+	item->cache_owner= cache;
+	item->last_access= cache->curtime++;
+	item->c_handle= NULL;
+
+	BLI_ghash_remove(cache->hash, key, moviecache_keyfree, moviecache_valfree);
+	BLI_ghash_insert(cache->hash, key, item);
+
+	item->c_handle= MEM_CacheLimiter_insert(limitor, item);
+
+	MEM_CacheLimiter_ref(item->c_handle);
+	MEM_CacheLimiter_enforce_limits(limitor);
+	MEM_CacheLimiter_unref(item->c_handle);
+
+	/* cache limiter can't remove unused keys which points to destoryed values */
+	check_unused_keys(cache);
+
+	if(cache->points) {
+		MEM_freeN(cache->points);
+		cache->points= NULL;
+	}
+}
+
+ImBuf* IMB_moviecache_get(MovieCache *cache, void *userkey)
+{
+	MovieCacheKey key;
+	MovieCacheItem *item;
+
+	key.cache_owner= cache;
+	key.userkey= userkey;
+	item= (MovieCacheItem*)BLI_ghash_lookup(cache->hash, &key);
+
+	if(item) {
+		item->last_access= cache->curtime++;
+
+		if(item->ibuf) {
+			MEM_CacheLimiter_touch(item->c_handle);
+			IMB_refImBuf(item->ibuf);
+
+			return item->ibuf;
+		}
+	}
+
+	return NULL;
+}
+
+void IMB_moviecache_free(MovieCache *cache)
+{
+	BLI_ghash_free(cache->hash, moviecache_keyfree, moviecache_valfree);
+
+	BLI_mempool_destroy(cache->keys_pool);
+	BLI_mempool_destroy(cache->items_pool);
+	BLI_mempool_destroy(cache->userkeys_pool);
+
+	if(cache->points)
+		MEM_freeN(cache->points);
+
+	MEM_freeN(cache);
+}
+
+/* get segments of cached frames. useful for debugging cache policies */
+void IMB_moviecache_get_cache_segments(MovieCache *cache, int proxy, int render_flags, int *totseg_r, int **points_r)
+{
+	*totseg_r= 0;
+	*points_r= NULL;
+
+	if(!cache->getdatafp)
+		return;
+
+	if(cache->proxy!=proxy || cache->render_flags!=render_flags) {
+		if(cache->points)
+			MEM_freeN(cache->points);
+
+		cache->points= NULL;
+	}
+
+	if(cache->points) {
+		*totseg_r= cache->totseg;
+		*points_r= cache->points;
+	} else {
+		int totframe= BLI_ghash_size(cache->hash);
+		int *frames= MEM_callocN(totframe*sizeof(int), "movieclip cache frames");
+		int a, totseg= 0;
+		GHashIterator *iter;
+
+		iter= BLI_ghashIterator_new(cache->hash);
+		a= 0;
+		while(!BLI_ghashIterator_isDone(iter)) {
+			MovieCacheKey *key= BLI_ghashIterator_getKey(iter);
+			MovieCacheItem *item= BLI_ghashIterator_getValue(iter);
+			int framenr, curproxy, curflags;
+
+			if(item->ibuf) {
+				cache->getdatafp(key->userkey, &framenr, &curproxy, &curflags);
+
+				if(curproxy==proxy && curflags==render_flags)
+					frames[a++]= framenr;
+			}
+
+			BLI_ghashIterator_step(iter);
+		}
+
+		BLI_ghashIterator_free(iter);
+
+		qsort(frames, totframe, sizeof(int), compare_int);
+
+		/* count */
+		for(a= 0; a<totframe; a++) {
+			if(a && frames[a]-frames[a-1]!=1)
+				totseg++;
+
+			if(a==totframe-1)
+				totseg++;
+		}
+
+		if(totseg) {
+			int b, *points;
+
+			points= MEM_callocN(2*sizeof(int)*totseg, "movieclip cache segments");
+
+			/* fill */
+			for(a= 0, b= 0; a<totframe; a++) {
+				if(a==0)
+					points[b++]= frames[a];
+
+				if(a && frames[a]-frames[a-1]!=1) {
+					points[b++]= frames[a-1];
+					points[b++]= frames[a];
+				}
+
+				if(a==totframe-1)
+					points[b++]= frames[a];
+			}
+
+			*totseg_r= totseg;
+			*points_r= points;
+
+			cache->totseg= totseg;
+			cache->points= points;
+			cache->proxy= proxy;
+			cache->render_flags= render_flags;
+		}
+
+		MEM_freeN(frames);
+	}
+}
diff --git a/source/blender/imbuf/intern/openexr/CMakeLists.txt b/source/blender/imbuf/intern/openexr/CMakeLists.txt
index 3be5219ae44..4ee2ff4cc47 100644
--- a/source/blender/imbuf/intern/openexr/CMakeLists.txt
+++ b/source/blender/imbuf/intern/openexr/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/openexr/openexr_api.h b/source/blender/imbuf/intern/openexr/openexr_api.h
index 55aea13950e..8567673a3e3 100644
--- a/source/blender/imbuf/intern/openexr/openexr_api.h
+++ b/source/blender/imbuf/intern/openexr/openexr_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/openexr/openexr_multi.h b/source/blender/imbuf/intern/openexr/openexr_multi.h
index 58c5e0f2a3e..abb675e1dca 100644
--- a/source/blender/imbuf/intern/openexr/openexr_multi.h
+++ b/source/blender/imbuf/intern/openexr/openexr_multi.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/png.c b/source/blender/imbuf/intern/png.c
index f0c06ec0ae7..13c381ae9c4 100644
--- a/source/blender/imbuf/intern/png.c
+++ b/source/blender/imbuf/intern/png.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,7 +23,6 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
- * $Id$
  */
 
 /** \file blender/imbuf/intern/png.c
diff --git a/source/blender/imbuf/intern/radiance_hdr.c b/source/blender/imbuf/intern/radiance_hdr.c
index 9dd330ca88b..ec63a93ac69 100644
--- a/source/blender/imbuf/intern/radiance_hdr.c
+++ b/source/blender/imbuf/intern/radiance_hdr.c
@@ -1,8 +1,4 @@
 /*
- * radiance_hdr.c
- *
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -27,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/imbuf/intern/radiance_hdr.c
  *  \ingroup imbuf
diff --git a/source/blender/imbuf/intern/readimage.c b/source/blender/imbuf/intern/readimage.c
index 1c1e681bb30..794777b21d3 100644
--- a/source/blender/imbuf/intern/readimage.c
+++ b/source/blender/imbuf/intern/readimage.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * allocimbuf.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/readimage.c
diff --git a/source/blender/imbuf/intern/rectop.c b/source/blender/imbuf/intern/rectop.c
index db2ae3a5114..97b94ae7b27 100644
--- a/source/blender/imbuf/intern/rectop.c
+++ b/source/blender/imbuf/intern/rectop.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * allocimbuf.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/rectop.c
diff --git a/source/blender/imbuf/intern/rotate.c b/source/blender/imbuf/intern/rotate.c
index 2f9d5d60baa..7ca7445569f 100644
--- a/source/blender/imbuf/intern/rotate.c
+++ b/source/blender/imbuf/intern/rotate.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * rotate.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/rotate.c
diff --git a/source/blender/imbuf/intern/scaling.c b/source/blender/imbuf/intern/scaling.c
index 5389d90867e..fe53a883f82 100644
--- a/source/blender/imbuf/intern/scaling.c
+++ b/source/blender/imbuf/intern/scaling.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * allocimbuf.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/scaling.c
diff --git a/source/blender/imbuf/intern/targa.c b/source/blender/imbuf/intern/targa.c
index c757b435d90..2efed56ac2c 100644
--- a/source/blender/imbuf/intern/targa.c
+++ b/source/blender/imbuf/intern/targa.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,7 +23,6 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
- * $Id$
  */
 
 /** \file blender/imbuf/intern/targa.c
diff --git a/source/blender/imbuf/intern/thumbs.c b/source/blender/imbuf/intern/thumbs.c
index d2bf7f75615..ffe255ab9eb 100644
--- a/source/blender/imbuf/intern/thumbs.c
+++ b/source/blender/imbuf/intern/thumbs.c
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/thumbs_blend.c b/source/blender/imbuf/intern/thumbs_blend.c
index 03c80787920..0eaa87542d5 100644
--- a/source/blender/imbuf/intern/thumbs_blend.c
+++ b/source/blender/imbuf/intern/thumbs_blend.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/imbuf/intern/tiff.c b/source/blender/imbuf/intern/tiff.c
index ccb271393a4..d9580961cf5 100644
--- a/source/blender/imbuf/intern/tiff.c
+++ b/source/blender/imbuf/intern/tiff.c
@@ -1,7 +1,6 @@
 /*
  * tiff.c
  *
- * $Id$
  * 
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/imbuf/intern/util.c b/source/blender/imbuf/intern/util.c
index 85d31f18a03..872b78743be 100644
--- a/source/blender/imbuf/intern/util.c
+++ b/source/blender/imbuf/intern/util.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * util.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/util.c
diff --git a/source/blender/imbuf/intern/writeimage.c b/source/blender/imbuf/intern/writeimage.c
index b933e6d93ee..8fbed6da32b 100644
--- a/source/blender/imbuf/intern/writeimage.c
+++ b/source/blender/imbuf/intern/writeimage.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -26,7 +25,6 @@
  * ***** END GPL LICENSE BLOCK *****
  * writeimage.c
  *
- * $Id$
  */
 
 /** \file blender/imbuf/intern/writeimage.c
diff --git a/source/blender/makesdna/CMakeLists.txt b/source/blender/makesdna/CMakeLists.txt
index e02b33b92c1..638d618d785 100644
--- a/source/blender/makesdna/CMakeLists.txt
+++ b/source/blender/makesdna/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_ID.h b/source/blender/makesdna/DNA_ID.h
index 9c8a0231907..d2c7d49e5f9 100644
--- a/source/blender/makesdna/DNA_ID.h
+++ b/source/blender/makesdna/DNA_ID.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -118,7 +116,13 @@ typedef struct Library {
 	ID *idblock;
 	struct FileData *filedata;
 	char name[240];			/* path name used for reading, can be relative and edited in the outliner */
-	char filepath[240];		/* temp. absolute filepath, only used while reading */
+	char filepath[240];		/* absolute filepath, this is only for convenience,
+							 * 'name' is the real path used on file read but in
+							 * some cases its useful to access the absolute one,
+							 * This is set on file read.
+							 * Use BKE_library_filepath_set() rather than
+							 * setting 'name' directly and it will be kepk in
+							 * sync - campbell */
 	int tot, pad;			/* tot, idblock and filedata are only fo read and write */
 	struct Library *parent;	/* set for indirectly linked libs, used in the outliner and while reading */
 } Library;
diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h
index 239903208ec..20a2c36166f 100644
--- a/source/blender/makesdna/DNA_actuator_types.h
+++ b/source/blender/makesdna/DNA_actuator_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_boid_types.h b/source/blender/makesdna/DNA_boid_types.h
index 8ce6b0cc2bb..4de03f55077 100644
--- a/source/blender/makesdna/DNA_boid_types.h
+++ b/source/blender/makesdna/DNA_boid_types.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/DNA_brush_types.h b/source/blender/makesdna/DNA_brush_types.h
index 3d143dc3d0f..e9290a92493 100644
--- a/source/blender/makesdna/DNA_brush_types.h
+++ b/source/blender/makesdna/DNA_brush_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_camera_types.h b/source/blender/makesdna/DNA_camera_types.h
index 952b4e799b5..8ad6821702a 100644
--- a/source/blender/makesdna/DNA_camera_types.h
+++ b/source/blender/makesdna/DNA_camera_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_cloth_types.h b/source/blender/makesdna/DNA_cloth_types.h
index 128f19b504b..7b2fb292d27 100644
--- a/source/blender/makesdna/DNA_cloth_types.h
+++ b/source/blender/makesdna/DNA_cloth_types.h
@@ -1,31 +1,29 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2006 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): Daniel (Genscher)
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2006 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Daniel (Genscher)
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 #ifndef DNA_CLOTH_TYPES_H
 #define DNA_CLOTH_TYPES_H
 
diff --git a/source/blender/makesdna/DNA_color_types.h b/source/blender/makesdna/DNA_color_types.h
index 3b5a1865832..f3cfab4503b 100644
--- a/source/blender/makesdna/DNA_color_types.h
+++ b/source/blender/makesdna/DNA_color_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_controller_types.h b/source/blender/makesdna/DNA_controller_types.h
index e48386e5c4e..049e7bd4886 100644
--- a/source/blender/makesdna/DNA_controller_types.h
+++ b/source/blender/makesdna/DNA_controller_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_curve_types.h b/source/blender/makesdna/DNA_curve_types.h
index a38b33e6640..d189a692083 100644
--- a/source/blender/makesdna/DNA_curve_types.h
+++ b/source/blender/makesdna/DNA_curve_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_customdata_types.h b/source/blender/makesdna/DNA_customdata_types.h
index b721dc60e73..d98e5200d21 100644
--- a/source/blender/makesdna/DNA_customdata_types.h
+++ b/source/blender/makesdna/DNA_customdata_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_documentation.h b/source/blender/makesdna/DNA_documentation.h
index 2e5eb3778c4..206a45fad5d 100644
--- a/source/blender/makesdna/DNA_documentation.h
+++ b/source/blender/makesdna/DNA_documentation.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_effect_types.h b/source/blender/makesdna/DNA_effect_types.h
index f87698a3d64..237360f003e 100644
--- a/source/blender/makesdna/DNA_effect_types.h
+++ b/source/blender/makesdna/DNA_effect_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_fileglobal_types.h b/source/blender/makesdna/DNA_fileglobal_types.h
index 9aa3e1eb3c1..c606e5132d2 100644
--- a/source/blender/makesdna/DNA_fileglobal_types.h
+++ b/source/blender/makesdna/DNA_fileglobal_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_genfile.h b/source/blender/makesdna/DNA_genfile.h
index e8ed6580206..4f8b2343a9f 100644
--- a/source/blender/makesdna/DNA_genfile.h
+++ b/source/blender/makesdna/DNA_genfile.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_group_types.h b/source/blender/makesdna/DNA_group_types.h
index 106b85a5372..e174900aa8d 100644
--- a/source/blender/makesdna/DNA_group_types.h
+++ b/source/blender/makesdna/DNA_group_types.h
@@ -1,7 +1,6 @@
 /*
  * blenlib/DNA_group_types.h (mar-2001 nzc)
  *	
- * $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/DNA_image_types.h b/source/blender/makesdna/DNA_image_types.h
index dd033339ca4..4c3cc0ac0eb 100644
--- a/source/blender/makesdna/DNA_image_types.h
+++ b/source/blender/makesdna/DNA_image_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_key_types.h b/source/blender/makesdna/DNA_key_types.h
index 2d5960aa309..105aa4280ef 100644
--- a/source/blender/makesdna/DNA_key_types.h
+++ b/source/blender/makesdna/DNA_key_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_lamp_types.h b/source/blender/makesdna/DNA_lamp_types.h
index 9377b5d8a09..e36573473f3 100644
--- a/source/blender/makesdna/DNA_lamp_types.h
+++ b/source/blender/makesdna/DNA_lamp_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_lattice_types.h b/source/blender/makesdna/DNA_lattice_types.h
index a9e745b8148..f694e611089 100644
--- a/source/blender/makesdna/DNA_lattice_types.h
+++ b/source/blender/makesdna/DNA_lattice_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_listBase.h b/source/blender/makesdna/DNA_listBase.h
index f52325c0e7b..6a472272382 100644
--- a/source/blender/makesdna/DNA_listBase.h
+++ b/source/blender/makesdna/DNA_listBase.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_material_types.h b/source/blender/makesdna/DNA_material_types.h
index 6719dc8d9af..ea168d953bc 100644
--- a/source/blender/makesdna/DNA_material_types.h
+++ b/source/blender/makesdna/DNA_material_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_mesh_types.h b/source/blender/makesdna/DNA_mesh_types.h
index 25bb4958c97..ece6c84b0e8 100644
--- a/source/blender/makesdna/DNA_mesh_types.h
+++ b/source/blender/makesdna/DNA_mesh_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_meshdata_types.h b/source/blender/makesdna/DNA_meshdata_types.h
index 9d7375b6755..be7b985412f 100644
--- a/source/blender/makesdna/DNA_meshdata_types.h
+++ b/source/blender/makesdna/DNA_meshdata_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_meta_types.h b/source/blender/makesdna/DNA_meta_types.h
index 53f563341b3..12345ede3c4 100644
--- a/source/blender/makesdna/DNA_meta_types.h
+++ b/source/blender/makesdna/DNA_meta_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_modifier_types.h b/source/blender/makesdna/DNA_modifier_types.h
index 0344e6da0ff..7991a903bbb 100644
--- a/source/blender/makesdna/DNA_modifier_types.h
+++ b/source/blender/makesdna/DNA_modifier_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_node_types.h b/source/blender/makesdna/DNA_node_types.h
index f03cc200a56..02e57aa0840 100644
--- a/source/blender/makesdna/DNA_node_types.h
+++ b/source/blender/makesdna/DNA_node_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_object_fluidsim.h b/source/blender/makesdna/DNA_object_fluidsim.h
index 578bf8dd415..a32320b1740 100644
--- a/source/blender/makesdna/DNA_object_fluidsim.h
+++ b/source/blender/makesdna/DNA_object_fluidsim.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/DNA_object_force.h b/source/blender/makesdna/DNA_object_force.h
index fc8ce1b5820..2183cdb4406 100644
--- a/source/blender/makesdna/DNA_object_force.h
+++ b/source/blender/makesdna/DNA_object_force.h
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h
index 6faf86b74a5..19eff756ce1 100644
--- a/source/blender/makesdna/DNA_object_types.h
+++ b/source/blender/makesdna/DNA_object_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_outliner_types.h b/source/blender/makesdna/DNA_outliner_types.h
index af19aa490ae..ec8f85ea91f 100644
--- a/source/blender/makesdna/DNA_outliner_types.h
+++ b/source/blender/makesdna/DNA_outliner_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_packedFile_types.h b/source/blender/makesdna/DNA_packedFile_types.h
index de7218ec704..bbbbf39619b 100644
--- a/source/blender/makesdna/DNA_packedFile_types.h
+++ b/source/blender/makesdna/DNA_packedFile_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_particle_types.h b/source/blender/makesdna/DNA_particle_types.h
index da2fce4da82..f4736add66c 100644
--- a/source/blender/makesdna/DNA_particle_types.h
+++ b/source/blender/makesdna/DNA_particle_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_property_types.h b/source/blender/makesdna/DNA_property_types.h
index 04f0a6e60c6..004016606a5 100644
--- a/source/blender/makesdna/DNA_property_types.h
+++ b/source/blender/makesdna/DNA_property_types.h
@@ -1,7 +1,6 @@
 /*
  *
  *
- * $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/DNA_scene_types.h b/source/blender/makesdna/DNA_scene_types.h
index cb70a8274bd..de04e83e569 100644
--- a/source/blender/makesdna/DNA_scene_types.h
+++ b/source/blender/makesdna/DNA_scene_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_screen_types.h b/source/blender/makesdna/DNA_screen_types.h
index b52ed35ddce..c90a0acc273 100644
--- a/source/blender/makesdna/DNA_screen_types.h
+++ b/source/blender/makesdna/DNA_screen_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_sdna_types.h b/source/blender/makesdna/DNA_sdna_types.h
index 829d1eee03b..b3419a77aab 100644
--- a/source/blender/makesdna/DNA_sdna_types.h
+++ b/source/blender/makesdna/DNA_sdna_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_sensor_types.h b/source/blender/makesdna/DNA_sensor_types.h
index fb7a3e70c7c..b3593c5e08c 100644
--- a/source/blender/makesdna/DNA_sensor_types.h
+++ b/source/blender/makesdna/DNA_sensor_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_sequence_types.h b/source/blender/makesdna/DNA_sequence_types.h
index 3ec26cdadb4..399ae0208bd 100644
--- a/source/blender/makesdna/DNA_sequence_types.h
+++ b/source/blender/makesdna/DNA_sequence_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_smoke_types.h b/source/blender/makesdna/DNA_smoke_types.h
index 168481d3b29..5b3aae6e4a8 100644
--- a/source/blender/makesdna/DNA_smoke_types.h
+++ b/source/blender/makesdna/DNA_smoke_types.h
@@ -1,31 +1,29 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2006 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): Daniel Genrich (Genscher)
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2006 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Daniel Genrich (Genscher)
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 #ifndef DNA_SMOKE_TYPES_H
 #define DNA_SMOKE_TYPES_H
 
diff --git a/source/blender/makesdna/DNA_sound_types.h b/source/blender/makesdna/DNA_sound_types.h
index 4f727b3586b..b83ab0f9f75 100644
--- a/source/blender/makesdna/DNA_sound_types.h
+++ b/source/blender/makesdna/DNA_sound_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_space_types.h b/source/blender/makesdna/DNA_space_types.h
index 13be1253184..3b5ecbe59d8 100644
--- a/source/blender/makesdna/DNA_space_types.h
+++ b/source/blender/makesdna/DNA_space_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_speaker_types.h b/source/blender/makesdna/DNA_speaker_types.h
index fecc65885c5..02106fa45ad 100644
--- a/source/blender/makesdna/DNA_speaker_types.h
+++ b/source/blender/makesdna/DNA_speaker_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_text_types.h b/source/blender/makesdna/DNA_text_types.h
index f805ced5dac..18622cfe75f 100644
--- a/source/blender/makesdna/DNA_text_types.h
+++ b/source/blender/makesdna/DNA_text_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_texture_types.h b/source/blender/makesdna/DNA_texture_types.h
index d878a759d22..4cf31edb891 100644
--- a/source/blender/makesdna/DNA_texture_types.h
+++ b/source/blender/makesdna/DNA_texture_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_userdef_types.h b/source/blender/makesdna/DNA_userdef_types.h
index 05b16f869a8..a3934618582 100644
--- a/source/blender/makesdna/DNA_userdef_types.h
+++ b/source/blender/makesdna/DNA_userdef_types.h
@@ -1,6 +1,4 @@
 /*
- *	$Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 #ifndef DNA_USERDEF_TYPES_H
 #define DNA_USERDEF_TYPES_H
diff --git a/source/blender/makesdna/DNA_vec_types.h b/source/blender/makesdna/DNA_vec_types.h
index 2d7804c3d1d..75ac69cb379 100644
--- a/source/blender/makesdna/DNA_vec_types.h
+++ b/source/blender/makesdna/DNA_vec_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_vfont_types.h b/source/blender/makesdna/DNA_vfont_types.h
index ec576055b55..d51b59b966e 100644
--- a/source/blender/makesdna/DNA_vfont_types.h
+++ b/source/blender/makesdna/DNA_vfont_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_view2d_types.h b/source/blender/makesdna/DNA_view2d_types.h
index ac1d3409153..8f64246db31 100644
--- a/source/blender/makesdna/DNA_view2d_types.h
+++ b/source/blender/makesdna/DNA_view2d_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_view3d_types.h b/source/blender/makesdna/DNA_view3d_types.h
index 3c8d20a6f16..d94d4318725 100644
--- a/source/blender/makesdna/DNA_view3d_types.h
+++ b/source/blender/makesdna/DNA_view3d_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_windowmanager_types.h b/source/blender/makesdna/DNA_windowmanager_types.h
index 9e94ebfb6e8..0065fc110c3 100644
--- a/source/blender/makesdna/DNA_windowmanager_types.h
+++ b/source/blender/makesdna/DNA_windowmanager_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/DNA_world_types.h b/source/blender/makesdna/DNA_world_types.h
index 71d907f1c12..500851e23b8 100644
--- a/source/blender/makesdna/DNA_world_types.h
+++ b/source/blender/makesdna/DNA_world_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$ 
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/intern/CMakeLists.txt b/source/blender/makesdna/intern/CMakeLists.txt
index e9fd2b2baa2..f8169d5038a 100644
--- a/source/blender/makesdna/intern/CMakeLists.txt
+++ b/source/blender/makesdna/intern/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesdna/intern/dna_genfile.c b/source/blender/makesdna/intern/dna_genfile.c
index ebcfce84e37..2186a067c10 100644
--- a/source/blender/makesdna/intern/dna_genfile.c
+++ b/source/blender/makesdna/intern/dna_genfile.c
@@ -2,7 +2,6 @@
  *
  * Functions for struct-dna, the genetic file dot c!
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesdna/intern/makesdna.c b/source/blender/makesdna/intern/makesdna.c
index 694b403c7c5..e2526f902b0 100644
--- a/source/blender/makesdna/intern/makesdna.c
+++ b/source/blender/makesdna/intern/makesdna.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/CMakeLists.txt b/source/blender/makesrna/CMakeLists.txt
index 540597da578..638d618d785 100644
--- a/source/blender/makesrna/CMakeLists.txt
+++ b/source/blender/makesrna/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 13161 2008-01-07 19:13:47Z hos $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/RNA_access.h b/source/blender/makesrna/RNA_access.h
index 486e189873d..cf593555bc7 100644
--- a/source/blender/makesrna/RNA_access.h
+++ b/source/blender/makesrna/RNA_access.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/RNA_define.h b/source/blender/makesrna/RNA_define.h
index 9b87bbc2f4e..6dc7bf2abe3 100644
--- a/source/blender/makesrna/RNA_define.h
+++ b/source/blender/makesrna/RNA_define.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/RNA_enum_types.h b/source/blender/makesrna/RNA_enum_types.h
index 2300b72910d..4ef4a6a4cd5 100644
--- a/source/blender/makesrna/RNA_enum_types.h
+++ b/source/blender/makesrna/RNA_enum_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/RNA_types.h b/source/blender/makesrna/RNA_types.h
index 4e1177996ef..418a41c72ba 100644
--- a/source/blender/makesrna/RNA_types.h
+++ b/source/blender/makesrna/RNA_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/CMakeLists.txt b/source/blender/makesrna/intern/CMakeLists.txt
index 5a0a3388c85..59b251317dc 100644
--- a/source/blender/makesrna/intern/CMakeLists.txt
+++ b/source/blender/makesrna/intern/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id: CMakeLists.txt 17433 2008-11-12 21:16:53Z blendix $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/makesrna.c b/source/blender/makesrna/intern/makesrna.c
index 42b78e3ff7e..94fb25eb27c 100644
--- a/source/blender/makesrna/intern/makesrna.c
+++ b/source/blender/makesrna/intern/makesrna.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_ID.c b/source/blender/makesrna/intern/rna_ID.c
index b366a23c19a..194c3e8d18e 100644
--- a/source/blender/makesrna/intern/rna_ID.c
+++ b/source/blender/makesrna/intern/rna_ID.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -328,6 +326,12 @@ int rna_IDMaterials_assign_int(PointerRNA *ptr, int key, const PointerRNA *assig
 	}
 }
 
+void rna_Library_filepath_set(PointerRNA *ptr, const char *value)
+{
+	Library *lib= (Library*)ptr->data;
+	BKE_library_filepath_set(lib, value);
+}
+
 #else
 
 static void rna_def_ID_properties(BlenderRNA *brna)
@@ -523,7 +527,7 @@ static void rna_def_library(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "filepath", PROP_STRING, PROP_FILEPATH);
 	RNA_def_property_string_sdna(prop, NULL, "name");
 	RNA_def_property_ui_text(prop, "File Path", "Path to the library .blend file");
-	/* TODO - lib->filename isnt updated, however the outliner also skips this, probably only needed on read. */
+	RNA_def_property_string_funcs(prop, NULL, NULL, "rna_Library_filepath_set");
 	
 	prop= RNA_def_property(srna, "parent", PROP_POINTER, PROP_NONE);
 	RNA_def_property_struct_type(prop, "Library");
diff --git a/source/blender/makesrna/intern/rna_access.c b/source/blender/makesrna/intern/rna_access.c
index c1c22afcf75..a33efda38d0 100644
--- a/source/blender/makesrna/intern/rna_access.c
+++ b/source/blender/makesrna/intern/rna_access.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_actuator.c b/source/blender/makesrna/intern/rna_actuator.c
index 2859a7bb89b..596e1a7f357 100644
--- a/source/blender/makesrna/intern/rna_actuator.c
+++ b/source/blender/makesrna/intern/rna_actuator.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_actuator_api.c b/source/blender/makesrna/intern/rna_actuator_api.c
index c3f9ff35279..dd289c2b8c4 100644
--- a/source/blender/makesrna/intern/rna_actuator_api.c
+++ b/source/blender/makesrna/intern/rna_actuator_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_boid.c b/source/blender/makesrna/intern/rna_boid.c
index e21f6aeb26f..702f06860f7 100644
--- a/source/blender/makesrna/intern/rna_boid.c
+++ b/source/blender/makesrna/intern/rna_boid.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_brush.c b/source/blender/makesrna/intern/rna_brush.c
index da735f25345..d4b0372d24f 100644
--- a/source/blender/makesrna/intern/rna_brush.c
+++ b/source/blender/makesrna/intern/rna_brush.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_camera.c b/source/blender/makesrna/intern/rna_camera.c
index 9954fdfd88d..9e89c4aaab0 100644
--- a/source/blender/makesrna/intern/rna_camera.c
+++ b/source/blender/makesrna/intern/rna_camera.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_camera_api.c b/source/blender/makesrna/intern/rna_camera_api.c
index 39478713663..bf3db58e35e 100644
--- a/source/blender/makesrna/intern/rna_camera_api.c
+++ b/source/blender/makesrna/intern/rna_camera_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_cloth.c b/source/blender/makesrna/intern/rna_cloth.c
index 934a42cfcef..db6cb28bd98 100644
--- a/source/blender/makesrna/intern/rna_cloth.c
+++ b/source/blender/makesrna/intern/rna_cloth.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_color.c b/source/blender/makesrna/intern/rna_color.c
index 65745ca2afd..59d23b7a878 100644
--- a/source/blender/makesrna/intern/rna_color.c
+++ b/source/blender/makesrna/intern/rna_color.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_context.c b/source/blender/makesrna/intern/rna_context.c
index 42ef12e7d1e..15facd3606f 100644
--- a/source/blender/makesrna/intern/rna_context.c
+++ b/source/blender/makesrna/intern/rna_context.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_controller.c b/source/blender/makesrna/intern/rna_controller.c
index db5409bf7ef..fe899f99ed2 100644
--- a/source/blender/makesrna/intern/rna_controller.c
+++ b/source/blender/makesrna/intern/rna_controller.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_controller_api.c b/source/blender/makesrna/intern/rna_controller_api.c
index 4d16633b9cd..5f766e28005 100644
--- a/source/blender/makesrna/intern/rna_controller_api.c
+++ b/source/blender/makesrna/intern/rna_controller_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_curve.c b/source/blender/makesrna/intern/rna_curve.c
index 8bdbdcefc61..cbac594a80f 100644
--- a/source/blender/makesrna/intern/rna_curve.c
+++ b/source/blender/makesrna/intern/rna_curve.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_define.c b/source/blender/makesrna/intern/rna_define.c
index 06571a454be..ff1bfce2d2f 100644
--- a/source/blender/makesrna/intern/rna_define.c
+++ b/source/blender/makesrna/intern/rna_define.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_fcurve.c b/source/blender/makesrna/intern/rna_fcurve.c
index 08a71e0cd4f..c651dca4b31 100644
--- a/source/blender/makesrna/intern/rna_fcurve.c
+++ b/source/blender/makesrna/intern/rna_fcurve.c
@@ -621,7 +621,7 @@ static void rna_FKeyframe_points_remove(FCurve *fcu, ReportList *reports, BezTri
 
 static void rna_fcurve_range(FCurve *fcu, float range[2])
 {
-	calc_fcurve_range(fcu, range, range+1, FALSE);
+	calc_fcurve_range(fcu, range, range+1, FALSE, FALSE);
 }
 
 #else
diff --git a/source/blender/makesrna/intern/rna_fluidsim.c b/source/blender/makesrna/intern/rna_fluidsim.c
index 13e9c88bfe3..df32359ef91 100644
--- a/source/blender/makesrna/intern/rna_fluidsim.c
+++ b/source/blender/makesrna/intern/rna_fluidsim.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_group.c b/source/blender/makesrna/intern/rna_group.c
index 0a66ff9fa99..abf6b9b0943 100644
--- a/source/blender/makesrna/intern/rna_group.c
+++ b/source/blender/makesrna/intern/rna_group.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_image.c b/source/blender/makesrna/intern/rna_image.c
index 66bcc5951cd..ad6f459f851 100644
--- a/source/blender/makesrna/intern/rna_image.c
+++ b/source/blender/makesrna/intern/rna_image.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_image_api.c b/source/blender/makesrna/intern/rna_image_api.c
index 473278440e6..07271cb1aca 100644
--- a/source/blender/makesrna/intern/rna_image_api.c
+++ b/source/blender/makesrna/intern/rna_image_api.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * 
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesrna/intern/rna_internal.h b/source/blender/makesrna/intern/rna_internal.h
index 4cd4a2f11f9..2e3b371c3f3 100644
--- a/source/blender/makesrna/intern/rna_internal.h
+++ b/source/blender/makesrna/intern/rna_internal.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_internal_types.h b/source/blender/makesrna/intern/rna_internal_types.h
index 50790a0077f..ec6504fbbcb 100644
--- a/source/blender/makesrna/intern/rna_internal_types.h
+++ b/source/blender/makesrna/intern/rna_internal_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_key.c b/source/blender/makesrna/intern/rna_key.c
index 353da196e89..16d7dd16382 100644
--- a/source/blender/makesrna/intern/rna_key.c
+++ b/source/blender/makesrna/intern/rna_key.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_lamp.c b/source/blender/makesrna/intern/rna_lamp.c
index f18308591db..572559546c8 100644
--- a/source/blender/makesrna/intern/rna_lamp.c
+++ b/source/blender/makesrna/intern/rna_lamp.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_lattice.c b/source/blender/makesrna/intern/rna_lattice.c
index f30fea659ae..640a46d94ba 100644
--- a/source/blender/makesrna/intern/rna_lattice.c
+++ b/source/blender/makesrna/intern/rna_lattice.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_main.c b/source/blender/makesrna/intern/rna_main.c
index 0b44f7c98d0..92c84da165b 100644
--- a/source/blender/makesrna/intern/rna_main.c
+++ b/source/blender/makesrna/intern/rna_main.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_main_api.c b/source/blender/makesrna/intern/rna_main_api.c
index 7b26a8cb783..3f7cdf8d204 100644
--- a/source/blender/makesrna/intern/rna_main_api.c
+++ b/source/blender/makesrna/intern/rna_main_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_material.c b/source/blender/makesrna/intern/rna_material.c
index a9878ab2bf2..990d3b89bce 100644
--- a/source/blender/makesrna/intern/rna_material.c
+++ b/source/blender/makesrna/intern/rna_material.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_mesh.c b/source/blender/makesrna/intern/rna_mesh.c
index c4f33f9cf10..93cdfb6069b 100644
--- a/source/blender/makesrna/intern/rna_mesh.c
+++ b/source/blender/makesrna/intern/rna_mesh.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_mesh_api.c b/source/blender/makesrna/intern/rna_mesh_api.c
index ef636d9a515..0a93c9b05c5 100644
--- a/source/blender/makesrna/intern/rna_mesh_api.c
+++ b/source/blender/makesrna/intern/rna_mesh_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_meta.c b/source/blender/makesrna/intern/rna_meta.c
index 1c7359cc195..2b847084e10 100644
--- a/source/blender/makesrna/intern/rna_meta.c
+++ b/source/blender/makesrna/intern/rna_meta.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_modifier.c b/source/blender/makesrna/intern/rna_modifier.c
index c33fa0bc7f8..5eb317ede3e 100644
--- a/source/blender/makesrna/intern/rna_modifier.c
+++ b/source/blender/makesrna/intern/rna_modifier.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_nodetree.c b/source/blender/makesrna/intern/rna_nodetree.c
index 0677b848fee..96c23effdfb 100644
--- a/source/blender/makesrna/intern/rna_nodetree.c
+++ b/source/blender/makesrna/intern/rna_nodetree.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_nodetree_types.h b/source/blender/makesrna/intern/rna_nodetree_types.h
index a624d1d6403..1bbf47db094 100644
--- a/source/blender/makesrna/intern/rna_nodetree_types.h
+++ b/source/blender/makesrna/intern/rna_nodetree_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c
index e329df8470d..f0ba435954b 100644
--- a/source/blender/makesrna/intern/rna_object.c
+++ b/source/blender/makesrna/intern/rna_object.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_object_api.c b/source/blender/makesrna/intern/rna_object_api.c
index 84c3d2fd68b..0acff2a5790 100644
--- a/source/blender/makesrna/intern/rna_object_api.c
+++ b/source/blender/makesrna/intern/rna_object_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_object_force.c b/source/blender/makesrna/intern/rna_object_force.c
index 4ac29d8a881..44faefed27b 100644
--- a/source/blender/makesrna/intern/rna_object_force.c
+++ b/source/blender/makesrna/intern/rna_object_force.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_packedfile.c b/source/blender/makesrna/intern/rna_packedfile.c
index b414ce8ac09..3d19cc352f1 100644
--- a/source/blender/makesrna/intern/rna_packedfile.c
+++ b/source/blender/makesrna/intern/rna_packedfile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_particle.c b/source/blender/makesrna/intern/rna_particle.c
index 4b27e025fa3..2e62a08408f 100644
--- a/source/blender/makesrna/intern/rna_particle.c
+++ b/source/blender/makesrna/intern/rna_particle.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_pose_api.c b/source/blender/makesrna/intern/rna_pose_api.c
index 451a98e89fc..b8eda7828d5 100644
--- a/source/blender/makesrna/intern/rna_pose_api.c
+++ b/source/blender/makesrna/intern/rna_pose_api.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * 
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/makesrna/intern/rna_property.c b/source/blender/makesrna/intern/rna_property.c
index e2b886b8d38..3566197659c 100644
--- a/source/blender/makesrna/intern/rna_property.c
+++ b/source/blender/makesrna/intern/rna_property.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_render.c b/source/blender/makesrna/intern/rna_render.c
index f9b110912ad..1498d161209 100644
--- a/source/blender/makesrna/intern/rna_render.c
+++ b/source/blender/makesrna/intern/rna_render.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_rna.c b/source/blender/makesrna/intern/rna_rna.c
index 31c872f43f8..424a08f15cb 100644
--- a/source/blender/makesrna/intern/rna_rna.c
+++ b/source/blender/makesrna/intern/rna_rna.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_scene.c b/source/blender/makesrna/intern/rna_scene.c
index 2a2c9c279dd..fc3e7d96be7 100644
--- a/source/blender/makesrna/intern/rna_scene.c
+++ b/source/blender/makesrna/intern/rna_scene.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_scene_api.c b/source/blender/makesrna/intern/rna_scene_api.c
index 39efa72e0ce..345ebb2cd80 100644
--- a/source/blender/makesrna/intern/rna_scene_api.c
+++ b/source/blender/makesrna/intern/rna_scene_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_screen.c b/source/blender/makesrna/intern/rna_screen.c
index 840a24c23f4..795ea417d90 100644
--- a/source/blender/makesrna/intern/rna_screen.c
+++ b/source/blender/makesrna/intern/rna_screen.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sculpt_paint.c b/source/blender/makesrna/intern/rna_sculpt_paint.c
index d169ee5079b..7e113c85bf6 100644
--- a/source/blender/makesrna/intern/rna_sculpt_paint.c
+++ b/source/blender/makesrna/intern/rna_sculpt_paint.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sensor.c b/source/blender/makesrna/intern/rna_sensor.c
index 1f64603d6b4..217b50b38e5 100644
--- a/source/blender/makesrna/intern/rna_sensor.c
+++ b/source/blender/makesrna/intern/rna_sensor.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sensor_api.c b/source/blender/makesrna/intern/rna_sensor_api.c
index 7517443f4b7..bb1afd81007 100644
--- a/source/blender/makesrna/intern/rna_sensor_api.c
+++ b/source/blender/makesrna/intern/rna_sensor_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sequencer.c b/source/blender/makesrna/intern/rna_sequencer.c
index 3c2b771ae86..625a37814cb 100644
--- a/source/blender/makesrna/intern/rna_sequencer.c
+++ b/source/blender/makesrna/intern/rna_sequencer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sequencer_api.c b/source/blender/makesrna/intern/rna_sequencer_api.c
index 6019f46a114..98eb302b620 100644
--- a/source/blender/makesrna/intern/rna_sequencer_api.c
+++ b/source/blender/makesrna/intern/rna_sequencer_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_smoke.c b/source/blender/makesrna/intern/rna_smoke.c
index c40548ade6b..30db0a300ab 100644
--- a/source/blender/makesrna/intern/rna_smoke.c
+++ b/source/blender/makesrna/intern/rna_smoke.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_sound.c b/source/blender/makesrna/intern/rna_sound.c
index a656e6d56df..f5984d2f940 100644
--- a/source/blender/makesrna/intern/rna_sound.c
+++ b/source/blender/makesrna/intern/rna_sound.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_space.c b/source/blender/makesrna/intern/rna_space.c
index cbe06e6cab5..29a2723182b 100644
--- a/source/blender/makesrna/intern/rna_space.c
+++ b/source/blender/makesrna/intern/rna_space.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_speaker.c b/source/blender/makesrna/intern/rna_speaker.c
index 34c67335c79..3b7571343da 100644
--- a/source/blender/makesrna/intern/rna_speaker.c
+++ b/source/blender/makesrna/intern/rna_speaker.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_test.c b/source/blender/makesrna/intern/rna_test.c
index 17a7590ba47..c0f5e0735a6 100644
--- a/source/blender/makesrna/intern/rna_test.c
+++ b/source/blender/makesrna/intern/rna_test.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_text.c b/source/blender/makesrna/intern/rna_text.c
index 4e23fb6b095..a0d0bc088f7 100644
--- a/source/blender/makesrna/intern/rna_text.c
+++ b/source/blender/makesrna/intern/rna_text.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_text_api.c b/source/blender/makesrna/intern/rna_text_api.c
index 7e90dba6e3f..ec669b28918 100644
--- a/source/blender/makesrna/intern/rna_text_api.c
+++ b/source/blender/makesrna/intern/rna_text_api.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_texture.c b/source/blender/makesrna/intern/rna_texture.c
index 1babf5e61a1..c420ecefdae 100644
--- a/source/blender/makesrna/intern/rna_texture.c
+++ b/source/blender/makesrna/intern/rna_texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_texture_api.c b/source/blender/makesrna/intern/rna_texture_api.c
index 9a445ed8ae8..d4e39a5a8e4 100644
--- a/source/blender/makesrna/intern/rna_texture_api.c
+++ b/source/blender/makesrna/intern/rna_texture_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_timeline.c b/source/blender/makesrna/intern/rna_timeline.c
index c36666846d9..1dba222fea7 100644
--- a/source/blender/makesrna/intern/rna_timeline.c
+++ b/source/blender/makesrna/intern/rna_timeline.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_ui.c b/source/blender/makesrna/intern/rna_ui.c
index 2a62a39ef33..58d6911cf17 100644
--- a/source/blender/makesrna/intern/rna_ui.c
+++ b/source/blender/makesrna/intern/rna_ui.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_ui_api.c b/source/blender/makesrna/intern/rna_ui_api.c
index 9e9e64a480d..659346974fa 100644
--- a/source/blender/makesrna/intern/rna_ui_api.c
+++ b/source/blender/makesrna/intern/rna_ui_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_userdef.c b/source/blender/makesrna/intern/rna_userdef.c
index c6a76cf42b9..898ee2b2623 100644
--- a/source/blender/makesrna/intern/rna_userdef.c
+++ b/source/blender/makesrna/intern/rna_userdef.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -2541,6 +2539,7 @@ static void rna_def_userdef_system(BlenderRNA *brna)
 		/*{25, "NEPALI", 0, "Nepali (नेपाली)", "ne_NP"},*/
 		/* using the utf8 flipped form of Persian (فارسی) */
 		{26, "PERSIAN", 0, "Persian (ﯽﺳﺭﺎﻓ)", "fa_PE"},
+		{27, "INDONESIAN", 0, "Indonesian (Bahasa indonesia)", "id_ID"},
 		{0, NULL, 0, NULL, NULL}};
 
 	srna= RNA_def_struct(brna, "UserPreferencesSystem", NULL);
diff --git a/source/blender/makesrna/intern/rna_vfont.c b/source/blender/makesrna/intern/rna_vfont.c
index c64cf61429a..e5ea4809cd9 100644
--- a/source/blender/makesrna/intern/rna_vfont.c
+++ b/source/blender/makesrna/intern/rna_vfont.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_wm.c b/source/blender/makesrna/intern/rna_wm.c
index 942c0d39c37..7e2bef9c91f 100644
--- a/source/blender/makesrna/intern/rna_wm.c
+++ b/source/blender/makesrna/intern/rna_wm.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_wm_api.c b/source/blender/makesrna/intern/rna_wm_api.c
index 8b0bae58455..95488ead70d 100644
--- a/source/blender/makesrna/intern/rna_wm_api.c
+++ b/source/blender/makesrna/intern/rna_wm_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/makesrna/intern/rna_world.c b/source/blender/makesrna/intern/rna_world.c
index 62975763874..22570460093 100644
--- a/source/blender/makesrna/intern/rna_world.c
+++ b/source/blender/makesrna/intern/rna_world.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/MOD_modifiertypes.h b/source/blender/modifiers/MOD_modifiertypes.h
index 0ae9768c0e6..1feee9ccf8a 100644
--- a/source/blender/modifiers/MOD_modifiertypes.h
+++ b/source/blender/modifiers/MOD_modifiertypes.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_armature.c b/source/blender/modifiers/intern/MOD_armature.c
index 0ef85a49899..95e16f3bea4 100644
--- a/source/blender/modifiers/intern/MOD_armature.c
+++ b/source/blender/modifiers/intern/MOD_armature.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_armature.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_array.c b/source/blender/modifiers/intern/MOD_array.c
index c7fa75478f0..f56eda674c5 100644
--- a/source/blender/modifiers/intern/MOD_array.c
+++ b/source/blender/modifiers/intern/MOD_array.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_array.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_bevel.c b/source/blender/modifiers/intern/MOD_bevel.c
index 3397dad2460..c746b10755e 100644
--- a/source/blender/modifiers/intern/MOD_bevel.c
+++ b/source/blender/modifiers/intern/MOD_bevel.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_bevel.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_boolean.c b/source/blender/modifiers/intern/MOD_boolean.c
index 761f8dd0add..1828781690b 100644
--- a/source/blender/modifiers/intern/MOD_boolean.c
+++ b/source/blender/modifiers/intern/MOD_boolean.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_boolean.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_boolean_util.c b/source/blender/modifiers/intern/MOD_boolean_util.c
index 01245ca4e01..843501133c5 100644
--- a/source/blender/modifiers/intern/MOD_boolean_util.c
+++ b/source/blender/modifiers/intern/MOD_boolean_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_boolean_util.h b/source/blender/modifiers/intern/MOD_boolean_util.h
index 2a4191de407..dcd5460c7c3 100644
--- a/source/blender/modifiers/intern/MOD_boolean_util.h
+++ b/source/blender/modifiers/intern/MOD_boolean_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_build.c b/source/blender/modifiers/intern/MOD_build.c
index 1c56d81a798..10c2f6019ed 100644
--- a/source/blender/modifiers/intern/MOD_build.c
+++ b/source/blender/modifiers/intern/MOD_build.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_build.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_cast.c b/source/blender/modifiers/intern/MOD_cast.c
index b0e001f0978..c91cabd4a37 100644
--- a/source/blender/modifiers/intern/MOD_cast.c
+++ b/source/blender/modifiers/intern/MOD_cast.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_cast.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_cloth.c b/source/blender/modifiers/intern/MOD_cloth.c
index f5493162322..6c9bbd11e9c 100644
--- a/source/blender/modifiers/intern/MOD_cloth.c
+++ b/source/blender/modifiers/intern/MOD_cloth.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_cloth.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_collision.c b/source/blender/modifiers/intern/MOD_collision.c
index f4a9ea62ead..0cd3481c899 100644
--- a/source/blender/modifiers/intern/MOD_collision.c
+++ b/source/blender/modifiers/intern/MOD_collision.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_collision.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_curve.c b/source/blender/modifiers/intern/MOD_curve.c
index b732158358d..bdf67c25e74 100644
--- a/source/blender/modifiers/intern/MOD_curve.c
+++ b/source/blender/modifiers/intern/MOD_curve.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_curve.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_decimate.c b/source/blender/modifiers/intern/MOD_decimate.c
index e3c39752bd1..aba68dc9edc 100644
--- a/source/blender/modifiers/intern/MOD_decimate.c
+++ b/source/blender/modifiers/intern/MOD_decimate.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_decimate.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_displace.c b/source/blender/modifiers/intern/MOD_displace.c
index b0d9892a8df..a7a25fbb00e 100644
--- a/source/blender/modifiers/intern/MOD_displace.c
+++ b/source/blender/modifiers/intern/MOD_displace.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_displace.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_edgesplit.c b/source/blender/modifiers/intern/MOD_edgesplit.c
index e9a341896e6..939ce123613 100644
--- a/source/blender/modifiers/intern/MOD_edgesplit.c
+++ b/source/blender/modifiers/intern/MOD_edgesplit.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_edgesplit.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_explode.c b/source/blender/modifiers/intern/MOD_explode.c
index 0f3822f8cb6..8dcb6f4b4d9 100644
--- a/source/blender/modifiers/intern/MOD_explode.c
+++ b/source/blender/modifiers/intern/MOD_explode.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_explode.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_fluidsim.c b/source/blender/modifiers/intern/MOD_fluidsim.c
index cce288b4ad5..8bf56193a28 100644
--- a/source/blender/modifiers/intern/MOD_fluidsim.c
+++ b/source/blender/modifiers/intern/MOD_fluidsim.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_fluidsim.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_fluidsim_util.c b/source/blender/modifiers/intern/MOD_fluidsim_util.c
index a2f62d55d69..0e9b71c3e6d 100644
--- a/source/blender/modifiers/intern/MOD_fluidsim_util.c
+++ b/source/blender/modifiers/intern/MOD_fluidsim_util.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_fluidsim_util.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_fluidsim_util.h b/source/blender/modifiers/intern/MOD_fluidsim_util.h
index f8af8e6f583..2c22f37bcbe 100644
--- a/source/blender/modifiers/intern/MOD_fluidsim_util.h
+++ b/source/blender/modifiers/intern/MOD_fluidsim_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_hook.c b/source/blender/modifiers/intern/MOD_hook.c
index ad97ee82ee2..ad1a636589f 100644
--- a/source/blender/modifiers/intern/MOD_hook.c
+++ b/source/blender/modifiers/intern/MOD_hook.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_hook.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_lattice.c b/source/blender/modifiers/intern/MOD_lattice.c
index 4ff92e3c86d..9ef5e501aca 100644
--- a/source/blender/modifiers/intern/MOD_lattice.c
+++ b/source/blender/modifiers/intern/MOD_lattice.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_lattice.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_mask.c b/source/blender/modifiers/intern/MOD_mask.c
index ad1e0806327..4145dafce7b 100644
--- a/source/blender/modifiers/intern/MOD_mask.c
+++ b/source/blender/modifiers/intern/MOD_mask.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_mask.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_meshdeform.c b/source/blender/modifiers/intern/MOD_meshdeform.c
index 8a0e64e7ee4..c211efd64b8 100644
--- a/source/blender/modifiers/intern/MOD_meshdeform.c
+++ b/source/blender/modifiers/intern/MOD_meshdeform.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_meshdeform.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_mirror.c b/source/blender/modifiers/intern/MOD_mirror.c
index 7cde87b20d9..f551f0f5e7a 100644
--- a/source/blender/modifiers/intern/MOD_mirror.c
+++ b/source/blender/modifiers/intern/MOD_mirror.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_mirror.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_multires.c b/source/blender/modifiers/intern/MOD_multires.c
index 48b1112cad2..8bcaf8802b5 100644
--- a/source/blender/modifiers/intern/MOD_multires.c
+++ b/source/blender/modifiers/intern/MOD_multires.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_multires.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_none.c b/source/blender/modifiers/intern/MOD_none.c
index 8fed2150a75..6b014a869b7 100644
--- a/source/blender/modifiers/intern/MOD_none.c
+++ b/source/blender/modifiers/intern/MOD_none.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_particleinstance.c b/source/blender/modifiers/intern/MOD_particleinstance.c
index b0b43e018f7..f93e0469686 100644
--- a/source/blender/modifiers/intern/MOD_particleinstance.c
+++ b/source/blender/modifiers/intern/MOD_particleinstance.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_particleinstance.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_particlesystem.c b/source/blender/modifiers/intern/MOD_particlesystem.c
index 5635ba33d80..5ce2437b8ea 100644
--- a/source/blender/modifiers/intern/MOD_particlesystem.c
+++ b/source/blender/modifiers/intern/MOD_particlesystem.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_particlesystem.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_screw.c b/source/blender/modifiers/intern/MOD_screw.c
index 663faf0ed19..5dc233c78b1 100644
--- a/source/blender/modifiers/intern/MOD_screw.c
+++ b/source/blender/modifiers/intern/MOD_screw.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_screw.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_shapekey.c b/source/blender/modifiers/intern/MOD_shapekey.c
index 6e55466c1e4..9080ca39ebf 100644
--- a/source/blender/modifiers/intern/MOD_shapekey.c
+++ b/source/blender/modifiers/intern/MOD_shapekey.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_shapekey.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_shrinkwrap.c b/source/blender/modifiers/intern/MOD_shrinkwrap.c
index ba25df19b3e..6c047a81fa5 100644
--- a/source/blender/modifiers/intern/MOD_shrinkwrap.c
+++ b/source/blender/modifiers/intern/MOD_shrinkwrap.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_shrinkwrap.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_simpledeform.c b/source/blender/modifiers/intern/MOD_simpledeform.c
index 7c852527c3d..4609ee221a4 100644
--- a/source/blender/modifiers/intern/MOD_simpledeform.c
+++ b/source/blender/modifiers/intern/MOD_simpledeform.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_simpledeform.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_smoke.c b/source/blender/modifiers/intern/MOD_smoke.c
index 2e156d82ec6..9b03816ed04 100644
--- a/source/blender/modifiers/intern/MOD_smoke.c
+++ b/source/blender/modifiers/intern/MOD_smoke.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_smoke.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_smooth.c b/source/blender/modifiers/intern/MOD_smooth.c
index 5e13b8a6d3c..edd16c045f6 100644
--- a/source/blender/modifiers/intern/MOD_smooth.c
+++ b/source/blender/modifiers/intern/MOD_smooth.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_smooth.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_softbody.c b/source/blender/modifiers/intern/MOD_softbody.c
index c475328676b..01b1b0b52af 100644
--- a/source/blender/modifiers/intern/MOD_softbody.c
+++ b/source/blender/modifiers/intern/MOD_softbody.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_softbody.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_solidify.c b/source/blender/modifiers/intern/MOD_solidify.c
index f2e3a0d016a..8d47ad28a86 100644
--- a/source/blender/modifiers/intern/MOD_solidify.c
+++ b/source/blender/modifiers/intern/MOD_solidify.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_solidify.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_subsurf.c b/source/blender/modifiers/intern/MOD_subsurf.c
index 6c825b213b8..d42c95a4ce8 100644
--- a/source/blender/modifiers/intern/MOD_subsurf.c
+++ b/source/blender/modifiers/intern/MOD_subsurf.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_subsurf.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_surface.c b/source/blender/modifiers/intern/MOD_surface.c
index e30b7f2392d..258627e8481 100644
--- a/source/blender/modifiers/intern/MOD_surface.c
+++ b/source/blender/modifiers/intern/MOD_surface.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_surface.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_util.c b/source/blender/modifiers/intern/MOD_util.c
index 26e9d48cd0a..b7883eea4d8 100644
--- a/source/blender/modifiers/intern/MOD_util.c
+++ b/source/blender/modifiers/intern/MOD_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_util.h b/source/blender/modifiers/intern/MOD_util.h
index 5e6f377acf1..4de767358e4 100644
--- a/source/blender/modifiers/intern/MOD_util.h
+++ b/source/blender/modifiers/intern/MOD_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_uvproject.c b/source/blender/modifiers/intern/MOD_uvproject.c
index 0c343332736..36d773ad605 100644
--- a/source/blender/modifiers/intern/MOD_uvproject.c
+++ b/source/blender/modifiers/intern/MOD_uvproject.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_uvproject.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_warp.c b/source/blender/modifiers/intern/MOD_warp.c
index a088ba80b3d..8422916e450 100644
--- a/source/blender/modifiers/intern/MOD_warp.c
+++ b/source/blender/modifiers/intern/MOD_warp.c
@@ -1,27 +1,25 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* Contributor(s): Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Contributor(s): Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_warp.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_wave.c b/source/blender/modifiers/intern/MOD_wave.c
index 820c7e16f53..6aac7077447 100644
--- a/source/blender/modifiers/intern/MOD_wave.c
+++ b/source/blender/modifiers/intern/MOD_wave.c
@@ -1,34 +1,32 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software  Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005 by the Blender Foundation.
-* All rights reserved.
-*
-* Contributor(s): Daniel Dunbar
-*                 Ton Roosendaal,
-*                 Ben Batt,
-*                 Brecht Van Lommel,
-*                 Campbell Barton
-*
-* ***** END GPL LICENSE BLOCK *****
-*
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software  Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005 by the Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): Daniel Dunbar
+ *                 Ton Roosendaal,
+ *                 Ben Batt,
+ *                 Brecht Van Lommel,
+ *                 Campbell Barton
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ *
+ */
 
 /** \file blender/modifiers/intern/MOD_wave.c
  *  \ingroup modifiers
diff --git a/source/blender/modifiers/intern/MOD_weightvg_util.c b/source/blender/modifiers/intern/MOD_weightvg_util.c
index dcdb6b4dde8..c2a9ae7555d 100644
--- a/source/blender/modifiers/intern/MOD_weightvg_util.c
+++ b/source/blender/modifiers/intern/MOD_weightvg_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_weightvg_util.h b/source/blender/modifiers/intern/MOD_weightvg_util.h
index ed558e412c5..2f364a2017f 100644
--- a/source/blender/modifiers/intern/MOD_weightvg_util.h
+++ b/source/blender/modifiers/intern/MOD_weightvg_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_weightvgedit.c b/source/blender/modifiers/intern/MOD_weightvgedit.c
index 42d628cad09..24d80fe847c 100644
--- a/source/blender/modifiers/intern/MOD_weightvgedit.c
+++ b/source/blender/modifiers/intern/MOD_weightvgedit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_weightvgmix.c b/source/blender/modifiers/intern/MOD_weightvgmix.c
index e3499829371..221deeef1a6 100644
--- a/source/blender/modifiers/intern/MOD_weightvgmix.c
+++ b/source/blender/modifiers/intern/MOD_weightvgmix.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/modifiers/intern/MOD_weightvgproximity.c b/source/blender/modifiers/intern/MOD_weightvgproximity.c
index 109d16f229f..8effe4d7c1b 100644
--- a/source/blender/modifiers/intern/MOD_weightvgproximity.c
+++ b/source/blender/modifiers/intern/MOD_weightvgproximity.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/NOD_composite.h b/source/blender/nodes/NOD_composite.h
index 11ffcc9027f..d768a5d794f 100644
--- a/source/blender/nodes/NOD_composite.h
+++ b/source/blender/nodes/NOD_composite.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software(ListBase *lb); you can redistribute it and/or
diff --git a/source/blender/nodes/NOD_shader.h b/source/blender/nodes/NOD_shader.h
index 6c5ea79e1ee..83352698e38 100644
--- a/source/blender/nodes/NOD_shader.h
+++ b/source/blender/nodes/NOD_shader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/NOD_socket.h b/source/blender/nodes/NOD_socket.h
index 9ddf159cd9c..22efc99dfe8 100644
--- a/source/blender/nodes/NOD_socket.h
+++ b/source/blender/nodes/NOD_socket.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/NOD_texture.h b/source/blender/nodes/NOD_texture.h
index d098c241583..b07c0b22b75 100644
--- a/source/blender/nodes/NOD_texture.h
+++ b/source/blender/nodes/NOD_texture.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/node_composite_tree.c b/source/blender/nodes/composite/node_composite_tree.c
index 6f4939ecbdd..2151176f907 100644
--- a/source/blender/nodes/composite/node_composite_tree.c
+++ b/source/blender/nodes/composite/node_composite_tree.c
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/node_composite_util.c b/source/blender/nodes/composite/node_composite_util.c
index 2047a9089f4..b8282f2c452 100644
--- a/source/blender/nodes/composite/node_composite_util.c
+++ b/source/blender/nodes/composite/node_composite_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/node_composite_util.h b/source/blender/nodes/composite/node_composite_util.h
index f3e0f811f13..9ebca8688b4 100644
--- a/source/blender/nodes/composite/node_composite_util.h
+++ b/source/blender/nodes/composite/node_composite_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_alphaOver.c b/source/blender/nodes/composite/nodes/node_composite_alphaOver.c
index 551f716e72b..d9774453d3e 100644
--- a/source/blender/nodes/composite/nodes/node_composite_alphaOver.c
+++ b/source/blender/nodes/composite/nodes/node_composite_alphaOver.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_bilateralblur.c b/source/blender/nodes/composite/nodes/node_composite_bilateralblur.c
index e8e6e164983..fe04e69993f 100644
--- a/source/blender/nodes/composite/nodes/node_composite_bilateralblur.c
+++ b/source/blender/nodes/composite/nodes/node_composite_bilateralblur.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_blur.c b/source/blender/nodes/composite/nodes/node_composite_blur.c
index cd37404e677..2db80385951 100644
--- a/source/blender/nodes/composite/nodes/node_composite_blur.c
+++ b/source/blender/nodes/composite/nodes/node_composite_blur.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_brightness.c b/source/blender/nodes/composite/nodes/node_composite_brightness.c
index 55d890e6d31..95099e7adfb 100644
--- a/source/blender/nodes/composite/nodes/node_composite_brightness.c
+++ b/source/blender/nodes/composite/nodes/node_composite_brightness.c
@@ -1,30 +1,28 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version. 
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-* 
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-* 
-* The Original Code is Copyright (C) 2006 Blender Foundation.
-* All rights reserved.
-* 
-* The Original Code is: all of this file.
-* 
-* Contributor(s): none yet.
-* 
-* ***** END GPL LICENSE BLOCK *****
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ * 
+ * The Original Code is Copyright (C) 2006 Blender Foundation.
+ * All rights reserved.
+ * 
+ * The Original Code is: all of this file.
+ * 
+ * Contributor(s): none yet.
+ * 
+ * ***** END GPL LICENSE BLOCK *****
 
 */
 
diff --git a/source/blender/nodes/composite/nodes/node_composite_channelMatte.c b/source/blender/nodes/composite/nodes/node_composite_channelMatte.c
index 1e3992a7185..dbdfc6712dc 100644
--- a/source/blender/nodes/composite/nodes/node_composite_channelMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_channelMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_chromaMatte.c b/source/blender/nodes/composite/nodes/node_composite_chromaMatte.c
index 49c90e85621..71bb7c35d01 100644
--- a/source/blender/nodes/composite/nodes/node_composite_chromaMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_chromaMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_colorMatte.c b/source/blender/nodes/composite/nodes/node_composite_colorMatte.c
index b17052ed542..a82d8cf1f41 100644
--- a/source/blender/nodes/composite/nodes/node_composite_colorMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_colorMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_colorSpill.c b/source/blender/nodes/composite/nodes/node_composite_colorSpill.c
index cc55569e566..6b833d44f72 100644
--- a/source/blender/nodes/composite/nodes/node_composite_colorSpill.c
+++ b/source/blender/nodes/composite/nodes/node_composite_colorSpill.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_colorbalance.c b/source/blender/nodes/composite/nodes/node_composite_colorbalance.c
index 6bce18c14ef..e9176db4c0d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_colorbalance.c
+++ b/source/blender/nodes/composite/nodes/node_composite_colorbalance.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_common.c b/source/blender/nodes/composite/nodes/node_composite_common.c
index ed85d1c2fb8..7060971830e 100644
--- a/source/blender/nodes/composite/nodes/node_composite_common.c
+++ b/source/blender/nodes/composite/nodes/node_composite_common.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_composite.c b/source/blender/nodes/composite/nodes/node_composite_composite.c
index 492e5c28459..4eb9dd74b2e 100644
--- a/source/blender/nodes/composite/nodes/node_composite_composite.c
+++ b/source/blender/nodes/composite/nodes/node_composite_composite.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_crop.c b/source/blender/nodes/composite/nodes/node_composite_crop.c
index b8c539b6d66..c20593726cc 100644
--- a/source/blender/nodes/composite/nodes/node_composite_crop.c
+++ b/source/blender/nodes/composite/nodes/node_composite_crop.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_curves.c b/source/blender/nodes/composite/nodes/node_composite_curves.c
index 58074eaca57..c796a01f5a8 100644
--- a/source/blender/nodes/composite/nodes/node_composite_curves.c
+++ b/source/blender/nodes/composite/nodes/node_composite_curves.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_defocus.c b/source/blender/nodes/composite/nodes/node_composite_defocus.c
index 84a084591c5..72a9897188c 100644
--- a/source/blender/nodes/composite/nodes/node_composite_defocus.c
+++ b/source/blender/nodes/composite/nodes/node_composite_defocus.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_diffMatte.c b/source/blender/nodes/composite/nodes/node_composite_diffMatte.c
index f3cb223079f..8b1647414da 100644
--- a/source/blender/nodes/composite/nodes/node_composite_diffMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_diffMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_dilate.c b/source/blender/nodes/composite/nodes/node_composite_dilate.c
index c774045a12f..751db641785 100644
--- a/source/blender/nodes/composite/nodes/node_composite_dilate.c
+++ b/source/blender/nodes/composite/nodes/node_composite_dilate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_directionalblur.c b/source/blender/nodes/composite/nodes/node_composite_directionalblur.c
index 34815fcb24c..c77dc16bbf3 100644
--- a/source/blender/nodes/composite/nodes/node_composite_directionalblur.c
+++ b/source/blender/nodes/composite/nodes/node_composite_directionalblur.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_displace.c b/source/blender/nodes/composite/nodes/node_composite_displace.c
index 28d220eb4c9..8242acb6d49 100644
--- a/source/blender/nodes/composite/nodes/node_composite_displace.c
+++ b/source/blender/nodes/composite/nodes/node_composite_displace.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_distanceMatte.c b/source/blender/nodes/composite/nodes/node_composite_distanceMatte.c
index b186be5500b..c4c6abbd718 100644
--- a/source/blender/nodes/composite/nodes/node_composite_distanceMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_distanceMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_filter.c b/source/blender/nodes/composite/nodes/node_composite_filter.c
index 64a4c69b671..717942a0ec9 100644
--- a/source/blender/nodes/composite/nodes/node_composite_filter.c
+++ b/source/blender/nodes/composite/nodes/node_composite_filter.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_flip.c b/source/blender/nodes/composite/nodes/node_composite_flip.c
index 931aacbe6fd..ba1b72a1fb4 100644
--- a/source/blender/nodes/composite/nodes/node_composite_flip.c
+++ b/source/blender/nodes/composite/nodes/node_composite_flip.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_gamma.c b/source/blender/nodes/composite/nodes/node_composite_gamma.c
index f1dd3d40c09..1f8f934b1ba 100644
--- a/source/blender/nodes/composite/nodes/node_composite_gamma.c
+++ b/source/blender/nodes/composite/nodes/node_composite_gamma.c
@@ -1,30 +1,28 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version. 
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-* 
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-* 
-* The Original Code is Copyright (C) 2006 Blender Foundation.
-* All rights reserved.
-* 
-* The Original Code is: all of this file.
-* 
-* Contributor(s): none yet.
-* 
-* ***** END GPL LICENSE BLOCK *****
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ * 
+ * The Original Code is Copyright (C) 2006 Blender Foundation.
+ * All rights reserved.
+ * 
+ * The Original Code is: all of this file.
+ * 
+ * Contributor(s): none yet.
+ * 
+ * ***** END GPL LICENSE BLOCK *****
 
 */
 
diff --git a/source/blender/nodes/composite/nodes/node_composite_glare.c b/source/blender/nodes/composite/nodes/node_composite_glare.c
index 98a41e4af69..8660a4d612f 100644
--- a/source/blender/nodes/composite/nodes/node_composite_glare.c
+++ b/source/blender/nodes/composite/nodes/node_composite_glare.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_hueSatVal.c b/source/blender/nodes/composite/nodes/node_composite_hueSatVal.c
index 1d060726b67..a1c17abfdf6 100644
--- a/source/blender/nodes/composite/nodes/node_composite_hueSatVal.c
+++ b/source/blender/nodes/composite/nodes/node_composite_hueSatVal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_huecorrect.c b/source/blender/nodes/composite/nodes/node_composite_huecorrect.c
index 13a606e2c68..6b9196d58dc 100644
--- a/source/blender/nodes/composite/nodes/node_composite_huecorrect.c
+++ b/source/blender/nodes/composite/nodes/node_composite_huecorrect.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_idMask.c b/source/blender/nodes/composite/nodes/node_composite_idMask.c
index ddab415b3be..cf21efb000e 100644
--- a/source/blender/nodes/composite/nodes/node_composite_idMask.c
+++ b/source/blender/nodes/composite/nodes/node_composite_idMask.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_image.c b/source/blender/nodes/composite/nodes/node_composite_image.c
index 5e32800fe45..c1e9d28bb4d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_image.c
+++ b/source/blender/nodes/composite/nodes/node_composite_image.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_invert.c b/source/blender/nodes/composite/nodes/node_composite_invert.c
index fa64c9ec1b1..25ac24cf185 100644
--- a/source/blender/nodes/composite/nodes/node_composite_invert.c
+++ b/source/blender/nodes/composite/nodes/node_composite_invert.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_lensdist.c b/source/blender/nodes/composite/nodes/node_composite_lensdist.c
index 7d6c945a9e3..4d2794d844d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_lensdist.c
+++ b/source/blender/nodes/composite/nodes/node_composite_lensdist.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_levels.c b/source/blender/nodes/composite/nodes/node_composite_levels.c
index e34788ff62b..54e48bb749d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_levels.c
+++ b/source/blender/nodes/composite/nodes/node_composite_levels.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_lummaMatte.c b/source/blender/nodes/composite/nodes/node_composite_lummaMatte.c
index f7028fbeafd..8c37b3dd90f 100644
--- a/source/blender/nodes/composite/nodes/node_composite_lummaMatte.c
+++ b/source/blender/nodes/composite/nodes/node_composite_lummaMatte.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_mapUV.c b/source/blender/nodes/composite/nodes/node_composite_mapUV.c
index b1cae62274b..f4daf49f55d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_mapUV.c
+++ b/source/blender/nodes/composite/nodes/node_composite_mapUV.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_mapValue.c b/source/blender/nodes/composite/nodes/node_composite_mapValue.c
index 95e0f3dadd1..30eb0b8640b 100644
--- a/source/blender/nodes/composite/nodes/node_composite_mapValue.c
+++ b/source/blender/nodes/composite/nodes/node_composite_mapValue.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_math.c b/source/blender/nodes/composite/nodes/node_composite_math.c
index a8a631bdbad..a0e7beff1ab 100644
--- a/source/blender/nodes/composite/nodes/node_composite_math.c
+++ b/source/blender/nodes/composite/nodes/node_composite_math.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_mixrgb.c b/source/blender/nodes/composite/nodes/node_composite_mixrgb.c
index eaab24d628a..6732803f19c 100644
--- a/source/blender/nodes/composite/nodes/node_composite_mixrgb.c
+++ b/source/blender/nodes/composite/nodes/node_composite_mixrgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_normal.c b/source/blender/nodes/composite/nodes/node_composite_normal.c
index adf087019dc..a19b339e674 100644
--- a/source/blender/nodes/composite/nodes/node_composite_normal.c
+++ b/source/blender/nodes/composite/nodes/node_composite_normal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_normalize.c b/source/blender/nodes/composite/nodes/node_composite_normalize.c
index 3a913b1a0a2..a119a0b7de3 100644
--- a/source/blender/nodes/composite/nodes/node_composite_normalize.c
+++ b/source/blender/nodes/composite/nodes/node_composite_normalize.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_outputFile.c b/source/blender/nodes/composite/nodes/node_composite_outputFile.c
index 20203f66b5a..5b502bbee7b 100644
--- a/source/blender/nodes/composite/nodes/node_composite_outputFile.c
+++ b/source/blender/nodes/composite/nodes/node_composite_outputFile.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_premulkey.c b/source/blender/nodes/composite/nodes/node_composite_premulkey.c
index a3f958e04d9..7ce2f80e580 100644
--- a/source/blender/nodes/composite/nodes/node_composite_premulkey.c
+++ b/source/blender/nodes/composite/nodes/node_composite_premulkey.c
@@ -1,30 +1,28 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version. 
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-* 
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-* 
-* The Original Code is Copyright (C) 2006 Blender Foundation.
-* All rights reserved.
-* 
-* The Original Code is: all of this file.
-* 
-* Contributor(s): none yet.
-* 
-* ***** END GPL LICENSE BLOCK *****
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ * 
+ * The Original Code is Copyright (C) 2006 Blender Foundation.
+ * All rights reserved.
+ * 
+ * The Original Code is: all of this file.
+ * 
+ * Contributor(s): none yet.
+ * 
+ * ***** END GPL LICENSE BLOCK *****
 
 */
 
diff --git a/source/blender/nodes/composite/nodes/node_composite_rgb.c b/source/blender/nodes/composite/nodes/node_composite_rgb.c
index b9287a4978e..e86de3c7839 100644
--- a/source/blender/nodes/composite/nodes/node_composite_rgb.c
+++ b/source/blender/nodes/composite/nodes/node_composite_rgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_rotate.c b/source/blender/nodes/composite/nodes/node_composite_rotate.c
index 2bbb77cd1da..74ab33eb093 100644
--- a/source/blender/nodes/composite/nodes/node_composite_rotate.c
+++ b/source/blender/nodes/composite/nodes/node_composite_rotate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_scale.c b/source/blender/nodes/composite/nodes/node_composite_scale.c
index b6ad36f957f..48631a18dcb 100644
--- a/source/blender/nodes/composite/nodes/node_composite_scale.c
+++ b/source/blender/nodes/composite/nodes/node_composite_scale.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_sepcombHSVA.c b/source/blender/nodes/composite/nodes/node_composite_sepcombHSVA.c
index 6b1813d2142..4a5036a6a7f 100644
--- a/source/blender/nodes/composite/nodes/node_composite_sepcombHSVA.c
+++ b/source/blender/nodes/composite/nodes/node_composite_sepcombHSVA.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_sepcombRGBA.c b/source/blender/nodes/composite/nodes/node_composite_sepcombRGBA.c
index a60f6b81c95..143c67d099a 100644
--- a/source/blender/nodes/composite/nodes/node_composite_sepcombRGBA.c
+++ b/source/blender/nodes/composite/nodes/node_composite_sepcombRGBA.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_sepcombYCCA.c b/source/blender/nodes/composite/nodes/node_composite_sepcombYCCA.c
index 5e042f54fb0..502d1999101 100644
--- a/source/blender/nodes/composite/nodes/node_composite_sepcombYCCA.c
+++ b/source/blender/nodes/composite/nodes/node_composite_sepcombYCCA.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_sepcombYUVA.c b/source/blender/nodes/composite/nodes/node_composite_sepcombYUVA.c
index 70bc36a020d..5a766df29ed 100644
--- a/source/blender/nodes/composite/nodes/node_composite_sepcombYUVA.c
+++ b/source/blender/nodes/composite/nodes/node_composite_sepcombYUVA.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_setalpha.c b/source/blender/nodes/composite/nodes/node_composite_setalpha.c
index 8264d4d4dea..2b19ebfe5a3 100644
--- a/source/blender/nodes/composite/nodes/node_composite_setalpha.c
+++ b/source/blender/nodes/composite/nodes/node_composite_setalpha.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_splitViewer.c b/source/blender/nodes/composite/nodes/node_composite_splitViewer.c
index e73caa542b7..22f3dd3a7b0 100644
--- a/source/blender/nodes/composite/nodes/node_composite_splitViewer.c
+++ b/source/blender/nodes/composite/nodes/node_composite_splitViewer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_texture.c b/source/blender/nodes/composite/nodes/node_composite_texture.c
index 1dbbd56d2f1..24d7b30f11d 100644
--- a/source/blender/nodes/composite/nodes/node_composite_texture.c
+++ b/source/blender/nodes/composite/nodes/node_composite_texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_tonemap.c b/source/blender/nodes/composite/nodes/node_composite_tonemap.c
index ba2dc9c5c79..c243c104774 100644
--- a/source/blender/nodes/composite/nodes/node_composite_tonemap.c
+++ b/source/blender/nodes/composite/nodes/node_composite_tonemap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_translate.c b/source/blender/nodes/composite/nodes/node_composite_translate.c
index 872667a4e17..1865d6fc3d4 100644
--- a/source/blender/nodes/composite/nodes/node_composite_translate.c
+++ b/source/blender/nodes/composite/nodes/node_composite_translate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_valToRgb.c b/source/blender/nodes/composite/nodes/node_composite_valToRgb.c
index edd315e5a92..014f40a1a48 100644
--- a/source/blender/nodes/composite/nodes/node_composite_valToRgb.c
+++ b/source/blender/nodes/composite/nodes/node_composite_valToRgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_value.c b/source/blender/nodes/composite/nodes/node_composite_value.c
index ed650477f50..a38187847fd 100644
--- a/source/blender/nodes/composite/nodes/node_composite_value.c
+++ b/source/blender/nodes/composite/nodes/node_composite_value.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_vecBlur.c b/source/blender/nodes/composite/nodes/node_composite_vecBlur.c
index 26fcffa93ac..cdf56c230d8 100644
--- a/source/blender/nodes/composite/nodes/node_composite_vecBlur.c
+++ b/source/blender/nodes/composite/nodes/node_composite_vecBlur.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_viewer.c b/source/blender/nodes/composite/nodes/node_composite_viewer.c
index 8b052c5db35..fcf7fe530bd 100644
--- a/source/blender/nodes/composite/nodes/node_composite_viewer.c
+++ b/source/blender/nodes/composite/nodes/node_composite_viewer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/composite/nodes/node_composite_zcombine.c b/source/blender/nodes/composite/nodes/node_composite_zcombine.c
index 220b770198a..46a66957eac 100644
--- a/source/blender/nodes/composite/nodes/node_composite_zcombine.c
+++ b/source/blender/nodes/composite/nodes/node_composite_zcombine.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_common.c b/source/blender/nodes/intern/node_common.c
index 6214f39dc0a..c43c1b36a84 100644
--- a/source/blender/nodes/intern/node_common.c
+++ b/source/blender/nodes/intern/node_common.c
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_common.h b/source/blender/nodes/intern/node_common.h
index 2723c595380..ee523120d02 100644
--- a/source/blender/nodes/intern/node_common.h
+++ b/source/blender/nodes/intern/node_common.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_exec.c b/source/blender/nodes/intern/node_exec.c
index 154f7613223..b6374aeb386 100644
--- a/source/blender/nodes/intern/node_exec.c
+++ b/source/blender/nodes/intern/node_exec.c
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_exec.h b/source/blender/nodes/intern/node_exec.h
index 567c6ae56cf..fe1bb0b6eb6 100644
--- a/source/blender/nodes/intern/node_exec.h
+++ b/source/blender/nodes/intern/node_exec.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_socket.c b/source/blender/nodes/intern/node_socket.c
index 74f15af88a2..4a851a3acac 100644
--- a/source/blender/nodes/intern/node_socket.c
+++ b/source/blender/nodes/intern/node_socket.c
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_util.c b/source/blender/nodes/intern/node_util.c
index bdf53df06af..da85dd0a5ea 100644
--- a/source/blender/nodes/intern/node_util.c
+++ b/source/blender/nodes/intern/node_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/intern/node_util.h b/source/blender/nodes/intern/node_util.h
index 885c48599f8..d127a49cb4b 100644
--- a/source/blender/nodes/intern/node_util.h
+++ b/source/blender/nodes/intern/node_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/node_shader_tree.c b/source/blender/nodes/shader/node_shader_tree.c
index 9f3e7ce3c73..cc8e1619570 100644
--- a/source/blender/nodes/shader/node_shader_tree.c
+++ b/source/blender/nodes/shader/node_shader_tree.c
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/node_shader_util.c b/source/blender/nodes/shader/node_shader_util.c
index 01dd0f7d5a1..3b0211a53ee 100644
--- a/source/blender/nodes/shader/node_shader_util.c
+++ b/source/blender/nodes/shader/node_shader_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/node_shader_util.h b/source/blender/nodes/shader/node_shader_util.h
index 4c929c93517..3a0c97511e4 100644
--- a/source/blender/nodes/shader/node_shader_util.h
+++ b/source/blender/nodes/shader/node_shader_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_camera.c b/source/blender/nodes/shader/nodes/node_shader_camera.c
index c1e737fcb53..15332bfa066 100644
--- a/source/blender/nodes/shader/nodes/node_shader_camera.c
+++ b/source/blender/nodes/shader/nodes/node_shader_camera.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_common.c b/source/blender/nodes/shader/nodes/node_shader_common.c
index 2dd15ab1e99..ff995e02ca6 100644
--- a/source/blender/nodes/shader/nodes/node_shader_common.c
+++ b/source/blender/nodes/shader/nodes/node_shader_common.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_curves.c b/source/blender/nodes/shader/nodes/node_shader_curves.c
index 9dedeba6d39..9c441e45656 100644
--- a/source/blender/nodes/shader/nodes/node_shader_curves.c
+++ b/source/blender/nodes/shader/nodes/node_shader_curves.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_dynamic.c b/source/blender/nodes/shader/nodes/node_shader_dynamic.c
index 5aae54d858b..d41ddecbab3 100644
--- a/source/blender/nodes/shader/nodes/node_shader_dynamic.c
+++ b/source/blender/nodes/shader/nodes/node_shader_dynamic.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_geom.c b/source/blender/nodes/shader/nodes/node_shader_geom.c
index ddb8c42a730..1b073f6415b 100644
--- a/source/blender/nodes/shader/nodes/node_shader_geom.c
+++ b/source/blender/nodes/shader/nodes/node_shader_geom.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_hueSatVal.c b/source/blender/nodes/shader/nodes/node_shader_hueSatVal.c
index f4f69cf56fe..db717c48a88 100644
--- a/source/blender/nodes/shader/nodes/node_shader_hueSatVal.c
+++ b/source/blender/nodes/shader/nodes/node_shader_hueSatVal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_invert.c b/source/blender/nodes/shader/nodes/node_shader_invert.c
index 5347d98b42e..44d26bfff4e 100644
--- a/source/blender/nodes/shader/nodes/node_shader_invert.c
+++ b/source/blender/nodes/shader/nodes/node_shader_invert.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_mapping.c b/source/blender/nodes/shader/nodes/node_shader_mapping.c
index 05432708b29..7ec30952ea1 100644
--- a/source/blender/nodes/shader/nodes/node_shader_mapping.c
+++ b/source/blender/nodes/shader/nodes/node_shader_mapping.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_material.c b/source/blender/nodes/shader/nodes/node_shader_material.c
index 21fb4db115b..408b7b0ea48 100644
--- a/source/blender/nodes/shader/nodes/node_shader_material.c
+++ b/source/blender/nodes/shader/nodes/node_shader_material.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_math.c b/source/blender/nodes/shader/nodes/node_shader_math.c
index 592779d6803..6faad500793 100644
--- a/source/blender/nodes/shader/nodes/node_shader_math.c
+++ b/source/blender/nodes/shader/nodes/node_shader_math.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_mixRgb.c b/source/blender/nodes/shader/nodes/node_shader_mixRgb.c
index a9e4f2129be..463146ec59c 100644
--- a/source/blender/nodes/shader/nodes/node_shader_mixRgb.c
+++ b/source/blender/nodes/shader/nodes/node_shader_mixRgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_normal.c b/source/blender/nodes/shader/nodes/node_shader_normal.c
index 1ce7c61c593..0038570c5b1 100644
--- a/source/blender/nodes/shader/nodes/node_shader_normal.c
+++ b/source/blender/nodes/shader/nodes/node_shader_normal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_output.c b/source/blender/nodes/shader/nodes/node_shader_output.c
index 94990bd9cf1..98a23534f90 100644
--- a/source/blender/nodes/shader/nodes/node_shader_output.c
+++ b/source/blender/nodes/shader/nodes/node_shader_output.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_rgb.c b/source/blender/nodes/shader/nodes/node_shader_rgb.c
index d612e5c228f..db2e9905a01 100644
--- a/source/blender/nodes/shader/nodes/node_shader_rgb.c
+++ b/source/blender/nodes/shader/nodes/node_shader_rgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_sepcombRGB.c b/source/blender/nodes/shader/nodes/node_shader_sepcombRGB.c
index 15a8a4952fb..77d8cdf033a 100644
--- a/source/blender/nodes/shader/nodes/node_shader_sepcombRGB.c
+++ b/source/blender/nodes/shader/nodes/node_shader_sepcombRGB.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_squeeze.c b/source/blender/nodes/shader/nodes/node_shader_squeeze.c
index b9eb116b866..ec2c1860597 100644
--- a/source/blender/nodes/shader/nodes/node_shader_squeeze.c
+++ b/source/blender/nodes/shader/nodes/node_shader_squeeze.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_texture.c b/source/blender/nodes/shader/nodes/node_shader_texture.c
index 09716820800..199af9a69a9 100644
--- a/source/blender/nodes/shader/nodes/node_shader_texture.c
+++ b/source/blender/nodes/shader/nodes/node_shader_texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_valToRgb.c b/source/blender/nodes/shader/nodes/node_shader_valToRgb.c
index 5c1d3096a6e..bc418a7c416 100644
--- a/source/blender/nodes/shader/nodes/node_shader_valToRgb.c
+++ b/source/blender/nodes/shader/nodes/node_shader_valToRgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_value.c b/source/blender/nodes/shader/nodes/node_shader_value.c
index 119a3664308..95ee54e225d 100644
--- a/source/blender/nodes/shader/nodes/node_shader_value.c
+++ b/source/blender/nodes/shader/nodes/node_shader_value.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/shader/nodes/node_shader_vectMath.c b/source/blender/nodes/shader/nodes/node_shader_vectMath.c
index ca31d879e3e..4282b40cb4d 100644
--- a/source/blender/nodes/shader/nodes/node_shader_vectMath.c
+++ b/source/blender/nodes/shader/nodes/node_shader_vectMath.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/node_texture_tree.c b/source/blender/nodes/texture/node_texture_tree.c
index 2b016177820..78792956684 100644
--- a/source/blender/nodes/texture/node_texture_tree.c
+++ b/source/blender/nodes/texture/node_texture_tree.c
@@ -1,6 +1,4 @@
-/**
- * $Id$ 
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/node_texture_util.c b/source/blender/nodes/texture/node_texture_util.c
index 7b8f42aa925..c3d298d1ecd 100644
--- a/source/blender/nodes/texture/node_texture_util.c
+++ b/source/blender/nodes/texture/node_texture_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/node_texture_util.h b/source/blender/nodes/texture/node_texture_util.h
index ccaf5df9897..766cc73c330 100644
--- a/source/blender/nodes/texture/node_texture_util.h
+++ b/source/blender/nodes/texture/node_texture_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_at.c b/source/blender/nodes/texture/nodes/node_texture_at.c
index 34993a93092..65787891602 100644
--- a/source/blender/nodes/texture/nodes/node_texture_at.c
+++ b/source/blender/nodes/texture/nodes/node_texture_at.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_bricks.c b/source/blender/nodes/texture/nodes/node_texture_bricks.c
index a9a82fe4d65..2011426b845 100644
--- a/source/blender/nodes/texture/nodes/node_texture_bricks.c
+++ b/source/blender/nodes/texture/nodes/node_texture_bricks.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_checker.c b/source/blender/nodes/texture/nodes/node_texture_checker.c
index 7762c9ef992..aebd3f2a05c 100644
--- a/source/blender/nodes/texture/nodes/node_texture_checker.c
+++ b/source/blender/nodes/texture/nodes/node_texture_checker.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_common.c b/source/blender/nodes/texture/nodes/node_texture_common.c
index 1b46b830909..0b8ee031d4f 100644
--- a/source/blender/nodes/texture/nodes/node_texture_common.c
+++ b/source/blender/nodes/texture/nodes/node_texture_common.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_compose.c b/source/blender/nodes/texture/nodes/node_texture_compose.c
index d224ae793e2..d2a6cd0cb42 100644
--- a/source/blender/nodes/texture/nodes/node_texture_compose.c
+++ b/source/blender/nodes/texture/nodes/node_texture_compose.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_coord.c b/source/blender/nodes/texture/nodes/node_texture_coord.c
index 2bfa2ff2314..a86324e9f7d 100644
--- a/source/blender/nodes/texture/nodes/node_texture_coord.c
+++ b/source/blender/nodes/texture/nodes/node_texture_coord.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_curves.c b/source/blender/nodes/texture/nodes/node_texture_curves.c
index dd65f979bbe..b14036ace5b 100644
--- a/source/blender/nodes/texture/nodes/node_texture_curves.c
+++ b/source/blender/nodes/texture/nodes/node_texture_curves.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_decompose.c b/source/blender/nodes/texture/nodes/node_texture_decompose.c
index 016ee5498d8..e83e6a718ef 100644
--- a/source/blender/nodes/texture/nodes/node_texture_decompose.c
+++ b/source/blender/nodes/texture/nodes/node_texture_decompose.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_distance.c b/source/blender/nodes/texture/nodes/node_texture_distance.c
index ef3f701d8f3..c0a9950e761 100644
--- a/source/blender/nodes/texture/nodes/node_texture_distance.c
+++ b/source/blender/nodes/texture/nodes/node_texture_distance.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_hueSatVal.c b/source/blender/nodes/texture/nodes/node_texture_hueSatVal.c
index cd7ebb18018..111d6e78023 100644
--- a/source/blender/nodes/texture/nodes/node_texture_hueSatVal.c
+++ b/source/blender/nodes/texture/nodes/node_texture_hueSatVal.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_image.c b/source/blender/nodes/texture/nodes/node_texture_image.c
index 6e749a80d99..3a81ecb1466 100644
--- a/source/blender/nodes/texture/nodes/node_texture_image.c
+++ b/source/blender/nodes/texture/nodes/node_texture_image.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_invert.c b/source/blender/nodes/texture/nodes/node_texture_invert.c
index d18bb86d5fa..3ad11026f28 100644
--- a/source/blender/nodes/texture/nodes/node_texture_invert.c
+++ b/source/blender/nodes/texture/nodes/node_texture_invert.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_math.c b/source/blender/nodes/texture/nodes/node_texture_math.c
index 04f399069c1..74b9dcdd30a 100644
--- a/source/blender/nodes/texture/nodes/node_texture_math.c
+++ b/source/blender/nodes/texture/nodes/node_texture_math.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_mixRgb.c b/source/blender/nodes/texture/nodes/node_texture_mixRgb.c
index 933a0302df8..c68adf2f4aa 100644
--- a/source/blender/nodes/texture/nodes/node_texture_mixRgb.c
+++ b/source/blender/nodes/texture/nodes/node_texture_mixRgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_output.c b/source/blender/nodes/texture/nodes/node_texture_output.c
index 3095e224446..42ee2847d06 100644
--- a/source/blender/nodes/texture/nodes/node_texture_output.c
+++ b/source/blender/nodes/texture/nodes/node_texture_output.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_proc.c b/source/blender/nodes/texture/nodes/node_texture_proc.c
index 237e4d6923d..d9ac8700be1 100644
--- a/source/blender/nodes/texture/nodes/node_texture_proc.c
+++ b/source/blender/nodes/texture/nodes/node_texture_proc.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_rotate.c b/source/blender/nodes/texture/nodes/node_texture_rotate.c
index afba9f199f9..a3f69286269 100644
--- a/source/blender/nodes/texture/nodes/node_texture_rotate.c
+++ b/source/blender/nodes/texture/nodes/node_texture_rotate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_scale.c b/source/blender/nodes/texture/nodes/node_texture_scale.c
index e3aee35977a..fbca9be068c 100644
--- a/source/blender/nodes/texture/nodes/node_texture_scale.c
+++ b/source/blender/nodes/texture/nodes/node_texture_scale.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_texture.c b/source/blender/nodes/texture/nodes/node_texture_texture.c
index 96d6325671a..2d543470342 100644
--- a/source/blender/nodes/texture/nodes/node_texture_texture.c
+++ b/source/blender/nodes/texture/nodes/node_texture_texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_translate.c b/source/blender/nodes/texture/nodes/node_texture_translate.c
index b970bfbff76..8d09b4363f8 100644
--- a/source/blender/nodes/texture/nodes/node_texture_translate.c
+++ b/source/blender/nodes/texture/nodes/node_texture_translate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_valToNor.c b/source/blender/nodes/texture/nodes/node_texture_valToNor.c
index 523f416568c..28b0a19c5a9 100644
--- a/source/blender/nodes/texture/nodes/node_texture_valToNor.c
+++ b/source/blender/nodes/texture/nodes/node_texture_valToNor.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_valToRgb.c b/source/blender/nodes/texture/nodes/node_texture_valToRgb.c
index 6398a398b32..0a6cdbd2024 100644
--- a/source/blender/nodes/texture/nodes/node_texture_valToRgb.c
+++ b/source/blender/nodes/texture/nodes/node_texture_valToRgb.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/nodes/texture/nodes/node_texture_viewer.c b/source/blender/nodes/texture/nodes/node_texture_viewer.c
index b0aa74a83b2..a9670bfa78b 100644
--- a/source/blender/nodes/texture/nodes/node_texture_viewer.c
+++ b/source/blender/nodes/texture/nodes/node_texture_viewer.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/BPY_extern.h b/source/blender/python/BPY_extern.h
index ae82dac7f14..c43a2520bb8 100644
--- a/source/blender/python/BPY_extern.h
+++ b/source/blender/python/BPY_extern.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/IDProp.c b/source/blender/python/generic/IDProp.c
index 541008ebaa5..7aa5ed61203 100644
--- a/source/blender/python/generic/IDProp.c
+++ b/source/blender/python/generic/IDProp.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/IDProp.h b/source/blender/python/generic/IDProp.h
index aca5c0195cc..f71514f9df0 100644
--- a/source/blender/python/generic/IDProp.h
+++ b/source/blender/python/generic/IDProp.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/bgl.c b/source/blender/python/generic/bgl.c
index e8dd0274568..24d963243f6 100644
--- a/source/blender/python/generic/bgl.c
+++ b/source/blender/python/generic/bgl.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -25,7 +24,7 @@
  * Contributor(s): Willian P. Germano
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/bgl.c
  *  \ingroup pygen
diff --git a/source/blender/python/generic/bgl.h b/source/blender/python/generic/bgl.h
index 81b570c8505..5cf9eac8289 100644
--- a/source/blender/python/generic/bgl.h
+++ b/source/blender/python/generic/bgl.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -25,7 +24,7 @@
  * Contributor(s): Willian P. Germano
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/bgl.h
  *  \ingroup pygen
diff --git a/source/blender/python/generic/blf_py_api.c b/source/blender/python/generic/blf_py_api.c
index b16efdf5a3d..a9cd16c70f0 100644
--- a/source/blender/python/generic/blf_py_api.c
+++ b/source/blender/python/generic/blf_py_api.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/blf_py_api.h b/source/blender/python/generic/blf_py_api.h
index ff834077486..12bd9bcf019 100644
--- a/source/blender/python/generic/blf_py_api.h
+++ b/source/blender/python/generic/blf_py_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/bpy_internal_import.c b/source/blender/python/generic/bpy_internal_import.c
index 0346c421f68..ac54cef7d4d 100644
--- a/source/blender/python/generic/bpy_internal_import.c
+++ b/source/blender/python/generic/bpy_internal_import.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,7 +23,7 @@
  * Contributor(s): Willian P. Germano
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/bpy_internal_import.c
  *  \ingroup pygen
diff --git a/source/blender/python/generic/bpy_internal_import.h b/source/blender/python/generic/bpy_internal_import.h
index dd1596efe4e..8bc10234a9b 100644
--- a/source/blender/python/generic/bpy_internal_import.h
+++ b/source/blender/python/generic/bpy_internal_import.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -24,7 +23,7 @@
  * Contributor(s): Willian P. Germano, Campbell Barton
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/bpy_internal_import.h
  *  \ingroup pygen
diff --git a/source/blender/python/generic/noise_py_api.c b/source/blender/python/generic/noise_py_api.c
index 2171f1f7f39..6afb1a00e2f 100644
--- a/source/blender/python/generic/noise_py_api.c
+++ b/source/blender/python/generic/noise_py_api.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * Blender.Noise BPython module implementation.
  * This submodule has functions to generate noise of various types.
@@ -28,7 +27,7 @@
  * Contributor(s): eeshlo
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/noise_py_api.c
  *  \ingroup pygen
diff --git a/source/blender/python/generic/noise_py_api.h b/source/blender/python/generic/noise_py_api.h
index 2bf779a6b72..60f43e16158 100644
--- a/source/blender/python/generic/noise_py_api.h
+++ b/source/blender/python/generic/noise_py_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/generic/py_capi_utils.c b/source/blender/python/generic/py_capi_utils.c
index 587ac69071e..c6fb5133e33 100644
--- a/source/blender/python/generic/py_capi_utils.c
+++ b/source/blender/python/generic/py_capi_utils.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -18,7 +16,7 @@
  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/py_capi_utils.c
  *  \ingroup pygen
diff --git a/source/blender/python/generic/py_capi_utils.h b/source/blender/python/generic/py_capi_utils.h
index ccd001aabd4..17d83ca6567 100644
--- a/source/blender/python/generic/py_capi_utils.h
+++ b/source/blender/python/generic/py_capi_utils.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy.c b/source/blender/python/intern/bpy.c
index f251e41a92d..d9d1c16e11f 100644
--- a/source/blender/python/intern/bpy.c
+++ b/source/blender/python/intern/bpy.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy.h b/source/blender/python/intern/bpy.h
index f60146021d3..2412d65aa21 100644
--- a/source/blender/python/intern/bpy.h
+++ b/source/blender/python/intern/bpy.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_app.c b/source/blender/python/intern/bpy_app.c
index c3d60bc353d..cc3b88722b6 100644
--- a/source/blender/python/intern/bpy_app.c
+++ b/source/blender/python/intern/bpy_app.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_app.h b/source/blender/python/intern/bpy_app.h
index fbc5696875a..0aa3b1f4e42 100644
--- a/source/blender/python/intern/bpy_app.h
+++ b/source/blender/python/intern/bpy_app.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_app_handlers.c b/source/blender/python/intern/bpy_app_handlers.c
index 1a50ae79dc7..7008aeda074 100644
--- a/source/blender/python/intern/bpy_app_handlers.c
+++ b/source/blender/python/intern/bpy_app_handlers.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_app_handlers.h b/source/blender/python/intern/bpy_app_handlers.h
index bfa413438b1..873282bde79 100644
--- a/source/blender/python/intern/bpy_app_handlers.h
+++ b/source/blender/python/intern/bpy_app_handlers.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_driver.c b/source/blender/python/intern/bpy_driver.c
index c5d15145ab2..0fe1d2d26ba 100644
--- a/source/blender/python/intern/bpy_driver.c
+++ b/source/blender/python/intern/bpy_driver.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_driver.h b/source/blender/python/intern/bpy_driver.h
index 5d29e171e2d..3e38cacf6d1 100644
--- a/source/blender/python/intern/bpy_driver.h
+++ b/source/blender/python/intern/bpy_driver.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_interface.c b/source/blender/python/intern/bpy_interface.c
index a96b8209d91..ea2266c99b4 100644
--- a/source/blender/python/intern/bpy_interface.c
+++ b/source/blender/python/intern/bpy_interface.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_interface_atexit.c b/source/blender/python/intern/bpy_interface_atexit.c
index 9424bdab93f..aa5b934891c 100644
--- a/source/blender/python/intern/bpy_interface_atexit.c
+++ b/source/blender/python/intern/bpy_interface_atexit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_intern_string.c b/source/blender/python/intern/bpy_intern_string.c
index 7c80653496f..32d329e11b3 100644
--- a/source/blender/python/intern/bpy_intern_string.c
+++ b/source/blender/python/intern/bpy_intern_string.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_intern_string.h b/source/blender/python/intern/bpy_intern_string.h
index af6a9b7101a..dc7af735743 100644
--- a/source/blender/python/intern/bpy_intern_string.h
+++ b/source/blender/python/intern/bpy_intern_string.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_library.c b/source/blender/python/intern/bpy_library.c
index 3b0c6a9ff25..651a626244f 100644
--- a/source/blender/python/intern/bpy_library.c
+++ b/source/blender/python/intern/bpy_library.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_operator.c b/source/blender/python/intern/bpy_operator.c
index 7e8b9b7b6df..6f23c1e604f 100644
--- a/source/blender/python/intern/bpy_operator.c
+++ b/source/blender/python/intern/bpy_operator.c
@@ -1,6 +1,5 @@
 
 /*
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/python/intern/bpy_operator.h b/source/blender/python/intern/bpy_operator.h
index 60cb78f9af5..cf67f2a029d 100644
--- a/source/blender/python/intern/bpy_operator.h
+++ b/source/blender/python/intern/bpy_operator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_operator_wrap.c b/source/blender/python/intern/bpy_operator_wrap.c
index 1b158f9bade..cb460f2fa08 100644
--- a/source/blender/python/intern/bpy_operator_wrap.c
+++ b/source/blender/python/intern/bpy_operator_wrap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_operator_wrap.h b/source/blender/python/intern/bpy_operator_wrap.h
index f833b2f0028..125d7dba84a 100644
--- a/source/blender/python/intern/bpy_operator_wrap.h
+++ b/source/blender/python/intern/bpy_operator_wrap.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_props.c b/source/blender/python/intern/bpy_props.c
index 5a78ac8e094..4b30b4705f4 100644
--- a/source/blender/python/intern/bpy_props.c
+++ b/source/blender/python/intern/bpy_props.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_props.h b/source/blender/python/intern/bpy_props.h
index 8b64d04e092..f7ec6d555b9 100644
--- a/source/blender/python/intern/bpy_props.h
+++ b/source/blender/python/intern/bpy_props.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna.c b/source/blender/python/intern/bpy_rna.c
index 70e7ba051f0..1ecbeb4d16a 100644
--- a/source/blender/python/intern/bpy_rna.c
+++ b/source/blender/python/intern/bpy_rna.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna.h b/source/blender/python/intern/bpy_rna.h
index 98afad38abe..70ae8166b8b 100644
--- a/source/blender/python/intern/bpy_rna.h
+++ b/source/blender/python/intern/bpy_rna.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna_anim.c b/source/blender/python/intern/bpy_rna_anim.c
index 00b20f0599c..4ebb407f4d6 100644
--- a/source/blender/python/intern/bpy_rna_anim.c
+++ b/source/blender/python/intern/bpy_rna_anim.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna_anim.h b/source/blender/python/intern/bpy_rna_anim.h
index 8dc31e9cf83..005e8f3e1a4 100644
--- a/source/blender/python/intern/bpy_rna_anim.h
+++ b/source/blender/python/intern/bpy_rna_anim.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna_array.c b/source/blender/python/intern/bpy_rna_array.c
index 24ecad85d14..eda2511a187 100644
--- a/source/blender/python/intern/bpy_rna_array.c
+++ b/source/blender/python/intern/bpy_rna_array.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna_callback.c b/source/blender/python/intern/bpy_rna_callback.c
index 20f5c6c522e..af6fc88097b 100644
--- a/source/blender/python/intern/bpy_rna_callback.c
+++ b/source/blender/python/intern/bpy_rna_callback.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_rna_callback.h b/source/blender/python/intern/bpy_rna_callback.h
index 2cea99fe20c..7824d2b082d 100644
--- a/source/blender/python/intern/bpy_rna_callback.h
+++ b/source/blender/python/intern/bpy_rna_callback.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_traceback.c b/source/blender/python/intern/bpy_traceback.c
index 9c4eea2f6af..aa21627a279 100644
--- a/source/blender/python/intern/bpy_traceback.c
+++ b/source/blender/python/intern/bpy_traceback.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_traceback.h b/source/blender/python/intern/bpy_traceback.h
index 3ed1f99aa20..ff7312bb16e 100644
--- a/source/blender/python/intern/bpy_traceback.h
+++ b/source/blender/python/intern/bpy_traceback.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_util.c b/source/blender/python/intern/bpy_util.c
index 516a9e49a39..bec3a07d32a 100644
--- a/source/blender/python/intern/bpy_util.c
+++ b/source/blender/python/intern/bpy_util.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/bpy_util.h b/source/blender/python/intern/bpy_util.h
index 09fbdf96ed2..4c06bd2593b 100644
--- a/source/blender/python/intern/bpy_util.h
+++ b/source/blender/python/intern/bpy_util.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/gpu.c b/source/blender/python/intern/gpu.c
index b4363716d86..238558b7ad7 100644
--- a/source/blender/python/intern/gpu.c
+++ b/source/blender/python/intern/gpu.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/gpu.h b/source/blender/python/intern/gpu.h
index d604c7c6201..95656e7e147 100644
--- a/source/blender/python/intern/gpu.h
+++ b/source/blender/python/intern/gpu.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This shader is free software; you can redistribute it and/or
diff --git a/source/blender/python/intern/stubs.c b/source/blender/python/intern/stubs.c
index 1e9f430e2b3..ab43b518085 100644
--- a/source/blender/python/intern/stubs.c
+++ b/source/blender/python/intern/stubs.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/python/mathutils/mathutils.h b/source/blender/python/mathutils/mathutils.h
index b798b5e7003..eefaaaed122 100644
--- a/source/blender/python/mathutils/mathutils.h
+++ b/source/blender/python/mathutils/mathutils.h
@@ -25,7 +25,7 @@
  * Contributor(s): Joseph Gilbert
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/mathutils.h
  *  \ingroup pygen
diff --git a/source/blender/python/mathutils/mathutils_geometry.h b/source/blender/python/mathutils/mathutils_geometry.h
index c963a63ce7f..4cc63054393 100644
--- a/source/blender/python/mathutils/mathutils_geometry.h
+++ b/source/blender/python/mathutils/mathutils_geometry.h
@@ -25,7 +25,7 @@
  * Contributor(s): Joseph Gilbert
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file blender/python/generic/mathutils_geometry.h
  *  \ingroup pygen
diff --git a/source/blender/quicktime/CMakeLists.txt b/source/blender/quicktime/CMakeLists.txt
index b647466d2a8..e8f8fa51a0a 100644
--- a/source/blender/quicktime/CMakeLists.txt
+++ b/source/blender/quicktime/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/quicktime/apple/qtkit_export.m b/source/blender/quicktime/apple/qtkit_export.m
index c1b8688e1d7..e0a87b33b5f 100644
--- a/source/blender/quicktime/apple/qtkit_export.m
+++ b/source/blender/quicktime/apple/qtkit_export.m
@@ -1,8 +1,4 @@
-/**
- * $Id$
- *
- * qtkit_export.m
- *
+/*
  * Code to create QuickTime Movies with Blender
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
diff --git a/source/blender/quicktime/apple/qtkit_import.m b/source/blender/quicktime/apple/qtkit_import.m
index 06cfb82e904..979dd1e3c60 100644
--- a/source/blender/quicktime/apple/qtkit_import.m
+++ b/source/blender/quicktime/apple/qtkit_import.m
@@ -1,8 +1,4 @@
-/**
- * $Id$
- *
- * qtkit_import.m
- *
+/*
  * Code to use Quicktime to load images/movies as texture.
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
diff --git a/source/blender/quicktime/apple/quicktime_export.c b/source/blender/quicktime/apple/quicktime_export.c
index 9b8f0bce6fb..77cc45664a4 100644
--- a/source/blender/quicktime/apple/quicktime_export.c
+++ b/source/blender/quicktime/apple/quicktime_export.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * quicktime_export.c
  *
diff --git a/source/blender/quicktime/apple/quicktime_import.c b/source/blender/quicktime/apple/quicktime_import.c
index 2f8cf242697..f88cba51ac3 100644
--- a/source/blender/quicktime/apple/quicktime_import.c
+++ b/source/blender/quicktime/apple/quicktime_import.c
@@ -1,5 +1,4 @@
 /*
- * $Id$
  *
  * quicktime_import.c
  *
diff --git a/source/blender/quicktime/quicktime_export.h b/source/blender/quicktime/quicktime_export.h
index 1c4f7a65e1e..8499952131e 100644
--- a/source/blender/quicktime/quicktime_export.h
+++ b/source/blender/quicktime/quicktime_export.h
@@ -1,4 +1,3 @@
-/* $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/quicktime/quicktime_import.h b/source/blender/quicktime/quicktime_import.h
index 7ca71cb9d4f..d095b8353ca 100644
--- a/source/blender/quicktime/quicktime_import.h
+++ b/source/blender/quicktime/quicktime_import.h
@@ -1,7 +1,6 @@
 /*
  * Quicktime_import.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/CMakeLists.txt b/source/blender/render/CMakeLists.txt
index d5b3bd5e311..763cd3780fb 100644
--- a/source/blender/render/CMakeLists.txt
+++ b/source/blender/render/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/extern/include/RE_engine.h b/source/blender/render/extern/include/RE_engine.h
index 8300582c173..1326ed495ec 100644
--- a/source/blender/render/extern/include/RE_engine.h
+++ b/source/blender/render/extern/include/RE_engine.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/extern/include/RE_pipeline.h b/source/blender/render/extern/include/RE_pipeline.h
index b87efb7274f..cbb2f17043c 100644
--- a/source/blender/render/extern/include/RE_pipeline.h
+++ b/source/blender/render/extern/include/RE_pipeline.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/extern/include/RE_render_ext.h b/source/blender/render/extern/include/RE_render_ext.h
index e98f481b162..9f8b5ac2763 100644
--- a/source/blender/render/extern/include/RE_render_ext.h
+++ b/source/blender/render/extern/include/RE_render_ext.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/extern/include/RE_shader_ext.h b/source/blender/render/extern/include/RE_shader_ext.h
index 27c87caf14a..36dec3801cd 100644
--- a/source/blender/render/extern/include/RE_shader_ext.h
+++ b/source/blender/render/extern/include/RE_shader_ext.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/envmap.h b/source/blender/render/intern/include/envmap.h
index ae669006b84..0133c08a6a7 100644
--- a/source/blender/render/intern/include/envmap.h
+++ b/source/blender/render/intern/include/envmap.h
@@ -1,7 +1,6 @@
 /*
  * envmap_ext.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/gammaCorrectionTables.h b/source/blender/render/intern/include/gammaCorrectionTables.h
index 2bff6b1f778..29ceef82c09 100644
--- a/source/blender/render/intern/include/gammaCorrectionTables.h
+++ b/source/blender/render/intern/include/gammaCorrectionTables.h
@@ -1,7 +1,6 @@
 /*
  * gammacorrectiontables.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/initrender.h b/source/blender/render/intern/include/initrender.h
index 30302181c04..17fa312a6cd 100644
--- a/source/blender/render/intern/include/initrender.h
+++ b/source/blender/render/intern/include/initrender.h
@@ -1,7 +1,6 @@
 /*
  * initrender_ext.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/occlusion.h b/source/blender/render/intern/include/occlusion.h
index 87ed348a9f9..15581c8d7d4 100644
--- a/source/blender/render/intern/include/occlusion.h
+++ b/source/blender/render/intern/include/occlusion.h
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/pixelblending.h b/source/blender/render/intern/include/pixelblending.h
index 0ec2e457275..87a5ed07747 100644
--- a/source/blender/render/intern/include/pixelblending.h
+++ b/source/blender/render/intern/include/pixelblending.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/pixelshading.h b/source/blender/render/intern/include/pixelshading.h
index feabfea9319..6f4b373f8d4 100644
--- a/source/blender/render/intern/include/pixelshading.h
+++ b/source/blender/render/intern/include/pixelshading.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/pointdensity.h b/source/blender/render/intern/include/pointdensity.h
index bf697b0dcad..910f011b467 100644
--- a/source/blender/render/intern/include/pointdensity.h
+++ b/source/blender/render/intern/include/pointdensity.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/raycounter.h b/source/blender/render/intern/include/raycounter.h
index 7acef6d3c67..20348f8d418 100644
--- a/source/blender/render/intern/include/raycounter.h
+++ b/source/blender/render/intern/include/raycounter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/rayintersection.h b/source/blender/render/intern/include/rayintersection.h
index 6db935fba24..2c68421a8ee 100644
--- a/source/blender/render/intern/include/rayintersection.h
+++ b/source/blender/render/intern/include/rayintersection.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/rayobject.h b/source/blender/render/intern/include/rayobject.h
index bef7ae6196b..3ca3bd63428 100644
--- a/source/blender/render/intern/include/rayobject.h
+++ b/source/blender/render/intern/include/rayobject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/render_types.h b/source/blender/render/intern/include/render_types.h
index 6d27c7707f0..aa2dd29814e 100644
--- a/source/blender/render/intern/include/render_types.h
+++ b/source/blender/render/intern/include/render_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/rendercore.h b/source/blender/render/intern/include/rendercore.h
index 7f804c9311d..5a544c46255 100644
--- a/source/blender/render/intern/include/rendercore.h
+++ b/source/blender/render/intern/include/rendercore.h
@@ -1,7 +1,6 @@
 /*
  * rendercore_ext.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/renderdatabase.h b/source/blender/render/intern/include/renderdatabase.h
index 06185d0ae74..ebbbfb03f55 100644
--- a/source/blender/render/intern/include/renderdatabase.h
+++ b/source/blender/render/intern/include/renderdatabase.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/renderpipeline.h b/source/blender/render/intern/include/renderpipeline.h
index 46e5d0994e2..fc46ea83309 100644
--- a/source/blender/render/intern/include/renderpipeline.h
+++ b/source/blender/render/intern/include/renderpipeline.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/shadbuf.h b/source/blender/render/intern/include/shadbuf.h
index 5bed39db3e9..a37af5abb4a 100644
--- a/source/blender/render/intern/include/shadbuf.h
+++ b/source/blender/render/intern/include/shadbuf.h
@@ -1,7 +1,6 @@
 /*
  * shadbuf_ext.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/shading.h b/source/blender/render/intern/include/shading.h
index df5578dad7a..ded7139a2f4 100644
--- a/source/blender/render/intern/include/shading.h
+++ b/source/blender/render/intern/include/shading.h
@@ -1,6 +1,4 @@
 /*
-* $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/sss.h b/source/blender/render/intern/include/sss.h
index fbc74691188..4e110da25dd 100644
--- a/source/blender/render/intern/include/sss.h
+++ b/source/blender/render/intern/include/sss.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/strand.h b/source/blender/render/intern/include/strand.h
index 7ffa5924dee..1cf34c7ad50 100644
--- a/source/blender/render/intern/include/strand.h
+++ b/source/blender/render/intern/include/strand.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/texture.h b/source/blender/render/intern/include/texture.h
index 73f9d7a1627..736f9e380aa 100644
--- a/source/blender/render/intern/include/texture.h
+++ b/source/blender/render/intern/include/texture.h
@@ -1,7 +1,6 @@
 /*
  * texture_ext.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/include/volume_precache.h b/source/blender/render/intern/include/volume_precache.h
index 9c6d523a005..8e402bc5418 100644
--- a/source/blender/render/intern/include/volume_precache.h
+++ b/source/blender/render/intern/include/volume_precache.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/volumetric.h b/source/blender/render/intern/include/volumetric.h
index 87d74de9134..7f63bcbbecc 100644
--- a/source/blender/render/intern/include/volumetric.h
+++ b/source/blender/render/intern/include/volumetric.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/voxeldata.h b/source/blender/render/intern/include/voxeldata.h
index aa3fd104ecf..11ac60baa12 100644
--- a/source/blender/render/intern/include/voxeldata.h
+++ b/source/blender/render/intern/include/voxeldata.h
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/include/zbuf.h b/source/blender/render/intern/include/zbuf.h
index 0d129081d62..6567cdacf0e 100644
--- a/source/blender/render/intern/include/zbuf.h
+++ b/source/blender/render/intern/include/zbuf.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/bvh.h b/source/blender/render/intern/raytrace/bvh.h
index c7a1b002d61..cdc905fbf04 100644
--- a/source/blender/render/intern/raytrace/bvh.h
+++ b/source/blender/render/intern/raytrace/bvh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject.cpp b/source/blender/render/intern/raytrace/rayobject.cpp
index 550652560be..289d28cc214 100644
--- a/source/blender/render/intern/raytrace/rayobject.cpp
+++ b/source/blender/render/intern/raytrace/rayobject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_blibvh.cpp b/source/blender/render/intern/raytrace/rayobject_blibvh.cpp
index 17c8f31a507..4e012831da3 100644
--- a/source/blender/render/intern/raytrace/rayobject_blibvh.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_blibvh.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_empty.cpp b/source/blender/render/intern/raytrace/rayobject_empty.cpp
index f11849af882..ddb2c124674 100644
--- a/source/blender/render/intern/raytrace/rayobject_empty.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_empty.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_hint.h b/source/blender/render/intern/raytrace/rayobject_hint.h
index 47c11d6d354..e13a8e68b27 100644
--- a/source/blender/render/intern/raytrace/rayobject_hint.h
+++ b/source/blender/render/intern/raytrace/rayobject_hint.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_instance.cpp b/source/blender/render/intern/raytrace/rayobject_instance.cpp
index 910624b695d..a356a7a04e7 100644
--- a/source/blender/render/intern/raytrace/rayobject_instance.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_instance.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_octree.cpp b/source/blender/render/intern/raytrace/rayobject_octree.cpp
index 5fa0b836f4f..20202319d44 100644
--- a/source/blender/render/intern/raytrace/rayobject_octree.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_octree.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_qbvh.cpp b/source/blender/render/intern/raytrace/rayobject_qbvh.cpp
index 8fc3c938427..76981632397 100644
--- a/source/blender/render/intern/raytrace/rayobject_qbvh.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_qbvh.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_raycounter.cpp b/source/blender/render/intern/raytrace/rayobject_raycounter.cpp
index 5b041e1a91f..7d86b6cf8cb 100644
--- a/source/blender/render/intern/raytrace/rayobject_raycounter.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_raycounter.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_rtbuild.cpp b/source/blender/render/intern/raytrace/rayobject_rtbuild.cpp
index c9de887d392..dc75ed5e37b 100644
--- a/source/blender/render/intern/raytrace/rayobject_rtbuild.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_rtbuild.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_rtbuild.h b/source/blender/render/intern/raytrace/rayobject_rtbuild.h
index 353d6f1066b..c4088981d92 100644
--- a/source/blender/render/intern/raytrace/rayobject_rtbuild.h
+++ b/source/blender/render/intern/raytrace/rayobject_rtbuild.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_svbvh.cpp b/source/blender/render/intern/raytrace/rayobject_svbvh.cpp
index 0d1526fba6f..5bd4fc23981 100644
--- a/source/blender/render/intern/raytrace/rayobject_svbvh.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_svbvh.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/rayobject_vbvh.cpp b/source/blender/render/intern/raytrace/rayobject_vbvh.cpp
index 620477f1e70..be98be24255 100644
--- a/source/blender/render/intern/raytrace/rayobject_vbvh.cpp
+++ b/source/blender/render/intern/raytrace/rayobject_vbvh.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/reorganize.h b/source/blender/render/intern/raytrace/reorganize.h
index 4df10bd9f84..5de88a919ec 100644
--- a/source/blender/render/intern/raytrace/reorganize.h
+++ b/source/blender/render/intern/raytrace/reorganize.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/svbvh.h b/source/blender/render/intern/raytrace/svbvh.h
index f38724b7af7..2f49531ff34 100644
--- a/source/blender/render/intern/raytrace/svbvh.h
+++ b/source/blender/render/intern/raytrace/svbvh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/raytrace/vbvh.h b/source/blender/render/intern/raytrace/vbvh.h
index 62cccdb5af9..71e862eccb8 100644
--- a/source/blender/render/intern/raytrace/vbvh.h
+++ b/source/blender/render/intern/raytrace/vbvh.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/convertblender.c b/source/blender/render/intern/source/convertblender.c
index 0ea0725d05d..5968a6e64f8 100644
--- a/source/blender/render/intern/source/convertblender.c
+++ b/source/blender/render/intern/source/convertblender.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -3347,9 +3345,7 @@ static void init_render_mesh(Render *re, ObjectRen *obr, int timeoffset)
 				mul_m4_v3(mat, ver->co);
 				mul_transposed_m3_v3(imat, ver->n);
 				normalize_v3(ver->n);
-
-				if(!negative_scale)
-					negate_v3(ver->n);
+				negate_v3(ver->n);
 			}
   
 			if(orco) {
@@ -3407,10 +3403,11 @@ static void init_render_mesh(Render *re, ObjectRen *obr, int timeoffset)
 						
 						if( mface->mat_nr==a1 ) {
 							float len;
-								
-							v1= mface->v1;
+							int reverse_verts = negative_scale!=0 && do_autosmooth==0;
+							int rev_tab[] = {reverse_verts==0 ? 0 : 2, 1, reverse_verts==0 ? 2 : 0, 3};
+							v1= reverse_verts==0 ? mface->v1 : mface->v3;
 							v2= mface->v2;
-							v3= mface->v3;
+							v3= reverse_verts==0 ? mface->v3 : mface->v1;
 							v4= mface->v4;
 							flag= mface->flag & ME_SMOOTH;
 
@@ -3447,36 +3444,40 @@ static void init_render_mesh(Render *re, ObjectRen *obr, int timeoffset)
 								CustomDataLayer *layer;
 								MTFace *mtface, *mtf;
 								MCol *mcol, *mc;
-								int index, mtfn= 0, mcn= 0, mtng=0;
+								int index, mtfn= 0, mcn= 0, mtng=0, vindex;
 								char *name;
+								int nr_verts = v4!=0 ? 4 : 3;
 
 								for(index=0; index<dm->faceData.totlayer; index++) {
 									layer= &dm->faceData.layers[index];
 									name= layer->name;
 									
 									if(layer->type == CD_MTFACE && mtfn < MAX_MTFACE) {
+										int t;
 										mtf= RE_vlakren_get_tface(obr, vlr, mtfn++, &name, 1);
 										mtface= (MTFace*)layer->data;
-										*mtf= mtface[a];
+										*mtf= mtface[a];	// copy face info
+										for(vindex=0; vindex<nr_verts; vindex++)
+											for(t=0; t<2; t++)
+												mtf->uv[vindex][t]=mtface[a].uv[rev_tab[vindex]][t];
 									}
 									else if(layer->type == CD_MCOL && mcn < MAX_MCOL) {
 										mc= RE_vlakren_get_mcol(obr, vlr, mcn++, &name, 1);
 										mcol= (MCol*)layer->data;
-										memcpy(mc, &mcol[a*4], sizeof(MCol)*4);
+										for(vindex=0; vindex<nr_verts; vindex++)
+											mc[vindex]=mcol[a*4+rev_tab[vindex]];
 									}
 									else if(layer->type == CD_TANGENT && mtng < 1)
 									{
 										if(need_nmap_tangent!=0)
 										{
 											const float * tangent = (const float *) layer->data;
-											int t;
-											int nr_verts = v4!=0 ? 4 : 3;
 											float * ftang = RE_vlakren_get_nmap_tangent(obr, vlr, 1);
-											for(t=0; t<nr_verts; t++)
+											for(vindex=0; vindex<nr_verts; vindex++)
 											{
-												QUATCOPY(ftang+t*4, tangent+a*16+t*4);
-												mul_mat3_m4_v3(mat, ftang+t*4);
-												normalize_v3(ftang+t*4);
+												QUATCOPY(ftang+vindex*4, tangent+a*16+rev_tab[vindex]*4);
+												mul_mat3_m4_v3(mat, ftang+vindex*4);
+												normalize_v3(ftang+vindex*4);
 											}
 										}
 									}
diff --git a/source/blender/render/intern/source/envmap.c b/source/blender/render/intern/source/envmap.c
index 25895b81dd7..e285b9b1ed9 100644
--- a/source/blender/render/intern/source/envmap.c
+++ b/source/blender/render/intern/source/envmap.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/external_engine.c b/source/blender/render/intern/source/external_engine.c
index 9470101d455..a4d1e502f13 100644
--- a/source/blender/render/intern/source/external_engine.c
+++ b/source/blender/render/intern/source/external_engine.c
@@ -1,5 +1,4 @@
 /*  
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/gammaCorrectionTables.c b/source/blender/render/intern/source/gammaCorrectionTables.c
index f88a5d240c3..68c4903704a 100644
--- a/source/blender/render/intern/source/gammaCorrectionTables.c
+++ b/source/blender/render/intern/source/gammaCorrectionTables.c
@@ -1,7 +1,6 @@
 /*
  * Jitter offset table
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/imagetexture.c b/source/blender/render/intern/source/imagetexture.c
index b290459a7c9..719b9674b80 100644
--- a/source/blender/render/intern/source/imagetexture.c
+++ b/source/blender/render/intern/source/imagetexture.c
@@ -1,6 +1,5 @@
 /*
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/initrender.c b/source/blender/render/intern/source/initrender.c
index bea86264af1..da935d0415d 100644
--- a/source/blender/render/intern/source/initrender.c
+++ b/source/blender/render/intern/source/initrender.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/occlusion.c b/source/blender/render/intern/source/occlusion.c
index 36dd4eb9708..a2363472694 100644
--- a/source/blender/render/intern/source/occlusion.c
+++ b/source/blender/render/intern/source/occlusion.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/pixelblending.c b/source/blender/render/intern/source/pixelblending.c
index d945436be6b..708f46971be 100644
--- a/source/blender/render/intern/source/pixelblending.c
+++ b/source/blender/render/intern/source/pixelblending.c
@@ -4,7 +4,6 @@
  * Functions to blend pixels with or without alpha, in various formats
  * nzc - June 2000
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/pixelshading.c b/source/blender/render/intern/source/pixelshading.c
index 93038984115..dfd10687a33 100644
--- a/source/blender/render/intern/source/pixelshading.c
+++ b/source/blender/render/intern/source/pixelshading.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/rayshade.c b/source/blender/render/intern/source/rayshade.c
index 0fc00731d60..a02c5681e5e 100644
--- a/source/blender/render/intern/source/rayshade.c
+++ b/source/blender/render/intern/source/rayshade.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/render_texture.c b/source/blender/render/intern/source/render_texture.c
index ae814f67450..14b02920439 100644
--- a/source/blender/render/intern/source/render_texture.c
+++ b/source/blender/render/intern/source/render_texture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/rendercore.c b/source/blender/render/intern/source/rendercore.c
index fd824cee8a4..d2683f26c3a 100644
--- a/source/blender/render/intern/source/rendercore.c
+++ b/source/blender/render/intern/source/rendercore.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/renderdatabase.c b/source/blender/render/intern/source/renderdatabase.c
index a73bf93841d..25575fa965f 100644
--- a/source/blender/render/intern/source/renderdatabase.c
+++ b/source/blender/render/intern/source/renderdatabase.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/shadeinput.c b/source/blender/render/intern/source/shadeinput.c
index 5963c4c8ffd..55d3703d351 100644
--- a/source/blender/render/intern/source/shadeinput.c
+++ b/source/blender/render/intern/source/shadeinput.c
@@ -1,6 +1,4 @@
 /*
-* $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/shadeoutput.c b/source/blender/render/intern/source/shadeoutput.c
index 66ae219a80a..ddfe3199d30 100644
--- a/source/blender/render/intern/source/shadeoutput.c
+++ b/source/blender/render/intern/source/shadeoutput.c
@@ -1,6 +1,4 @@
 /*
-* $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/sss.c b/source/blender/render/intern/source/sss.c
index 36b577ce9a4..cf97a63d8a0 100644
--- a/source/blender/render/intern/source/sss.c
+++ b/source/blender/render/intern/source/sss.c
@@ -1,5 +1,4 @@
 /* 
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/blender/render/intern/source/strand.c b/source/blender/render/intern/source/strand.c
index 15226493977..ed12c08c193 100644
--- a/source/blender/render/intern/source/strand.c
+++ b/source/blender/render/intern/source/strand.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/volume_precache.c b/source/blender/render/intern/source/volume_precache.c
index d6cfcee4ac9..850db5a55d4 100644
--- a/source/blender/render/intern/source/volume_precache.c
+++ b/source/blender/render/intern/source/volume_precache.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/volumetric.c b/source/blender/render/intern/source/volumetric.c
index 608882e7eb7..577671af684 100644
--- a/source/blender/render/intern/source/volumetric.c
+++ b/source/blender/render/intern/source/volumetric.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/voxeldata.c b/source/blender/render/intern/source/voxeldata.c
index 464cbf72326..d624751f613 100644
--- a/source/blender/render/intern/source/voxeldata.c
+++ b/source/blender/render/intern/source/voxeldata.c
@@ -1,5 +1,4 @@
 /*
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/render/intern/source/zbuf.c b/source/blender/render/intern/source/zbuf.c
index 62a54a51102..7a8779ee969 100644
--- a/source/blender/render/intern/source/zbuf.c
+++ b/source/blender/render/intern/source/zbuf.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/CMakeLists.txt b/source/blender/windowmanager/CMakeLists.txt
index 7da2e17ad89..33bbcb74835 100644
--- a/source/blender/windowmanager/CMakeLists.txt
+++ b/source/blender/windowmanager/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id: CMakeLists.txt 12931 2007-12-17 18:20:48Z theeth $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/WM_api.h b/source/blender/windowmanager/WM_api.h
index 34f59ce047d..8b55db27761 100644
--- a/source/blender/windowmanager/WM_api.h
+++ b/source/blender/windowmanager/WM_api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/WM_keymap.h b/source/blender/windowmanager/WM_keymap.h
index e00cd288c9a..250752e661a 100644
--- a/source/blender/windowmanager/WM_keymap.h
+++ b/source/blender/windowmanager/WM_keymap.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/WM_types.h b/source/blender/windowmanager/WM_types.h
index fc96c8804b2..dbcc478990a 100644
--- a/source/blender/windowmanager/WM_types.h
+++ b/source/blender/windowmanager/WM_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm.c b/source/blender/windowmanager/intern/wm.c
index 5beb07a1ed0..10c3735685c 100644
--- a/source/blender/windowmanager/intern/wm.c
+++ b/source/blender/windowmanager/intern/wm.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_apple.c b/source/blender/windowmanager/intern/wm_apple.c
index 7748efb6f64..c19523cbaee 100644
--- a/source/blender/windowmanager/intern/wm_apple.c
+++ b/source/blender/windowmanager/intern/wm_apple.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_cursors.c b/source/blender/windowmanager/intern/wm_cursors.c
index 8939ffd85a9..0770faa8d47 100644
--- a/source/blender/windowmanager/intern/wm_cursors.c
+++ b/source/blender/windowmanager/intern/wm_cursors.c
@@ -1,31 +1,29 @@
 /*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version. 
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2005-2007 Blender Foundation
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): Matt Ebb
-*
-* ***** END GPL/BL DUAL LICENSE BLOCK *****
-*/
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2005-2007 Blender Foundation
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Matt Ebb
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
 
 /** \file blender/windowmanager/intern/wm_cursors.c
  *  \ingroup wm
diff --git a/source/blender/windowmanager/intern/wm_dragdrop.c b/source/blender/windowmanager/intern/wm_dragdrop.c
index 29cbeb84058..94f6eb19e2c 100644
--- a/source/blender/windowmanager/intern/wm_dragdrop.c
+++ b/source/blender/windowmanager/intern/wm_dragdrop.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_draw.c b/source/blender/windowmanager/intern/wm_draw.c
index 4fe82917705..8261198ef78 100644
--- a/source/blender/windowmanager/intern/wm_draw.c
+++ b/source/blender/windowmanager/intern/wm_draw.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_event_system.c b/source/blender/windowmanager/intern/wm_event_system.c
index de2c593043c..e1670a674e8 100644
--- a/source/blender/windowmanager/intern/wm_event_system.c
+++ b/source/blender/windowmanager/intern/wm_event_system.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_files.c b/source/blender/windowmanager/intern/wm_files.c
index 823df35fc6e..2bd3ed34b69 100644
--- a/source/blender/windowmanager/intern/wm_files.c
+++ b/source/blender/windowmanager/intern/wm_files.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_gesture.c b/source/blender/windowmanager/intern/wm_gesture.c
index 52c0cb902c1..d2bc9cf8ba2 100644
--- a/source/blender/windowmanager/intern/wm_gesture.c
+++ b/source/blender/windowmanager/intern/wm_gesture.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_init_exit.c b/source/blender/windowmanager/intern/wm_init_exit.c
index f35499e27d6..b0be4bb9720 100644
--- a/source/blender/windowmanager/intern/wm_init_exit.c
+++ b/source/blender/windowmanager/intern/wm_init_exit.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_jobs.c b/source/blender/windowmanager/intern/wm_jobs.c
index f4e0b4ef06c..16691ac5ab0 100644
--- a/source/blender/windowmanager/intern/wm_jobs.c
+++ b/source/blender/windowmanager/intern/wm_jobs.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_keymap.c b/source/blender/windowmanager/intern/wm_keymap.c
index 99bd83ef8c1..9957d24c7ab 100644
--- a/source/blender/windowmanager/intern/wm_keymap.c
+++ b/source/blender/windowmanager/intern/wm_keymap.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_operators.c b/source/blender/windowmanager/intern/wm_operators.c
index 49bb3132204..177a468c008 100644
--- a/source/blender/windowmanager/intern/wm_operators.c
+++ b/source/blender/windowmanager/intern/wm_operators.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_subwindow.c b/source/blender/windowmanager/intern/wm_subwindow.c
index 8ea1f2fdd0a..8a4dd3df134 100644
--- a/source/blender/windowmanager/intern/wm_subwindow.c
+++ b/source/blender/windowmanager/intern/wm_subwindow.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/intern/wm_window.c b/source/blender/windowmanager/intern/wm_window.c
index 38ff02b46c5..250f431dc9a 100644
--- a/source/blender/windowmanager/intern/wm_window.c
+++ b/source/blender/windowmanager/intern/wm_window.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm.h b/source/blender/windowmanager/wm.h
index fd279c31f3c..d9dcb9ea10c 100644
--- a/source/blender/windowmanager/wm.h
+++ b/source/blender/windowmanager/wm.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_cursors.h b/source/blender/windowmanager/wm_cursors.h
index 5f262f34724..c179483eff3 100644
--- a/source/blender/windowmanager/wm_cursors.h
+++ b/source/blender/windowmanager/wm_cursors.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_draw.h b/source/blender/windowmanager/wm_draw.h
index 3112751a4c0..9e22fc8c412 100644
--- a/source/blender/windowmanager/wm_draw.h
+++ b/source/blender/windowmanager/wm_draw.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_event_system.h b/source/blender/windowmanager/wm_event_system.h
index cd110d3bc1a..9c0d2ae3eff 100644
--- a/source/blender/windowmanager/wm_event_system.h
+++ b/source/blender/windowmanager/wm_event_system.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_event_types.h b/source/blender/windowmanager/wm_event_types.h
index 579f20ca605..47081b6a6a1 100644
--- a/source/blender/windowmanager/wm_event_types.h
+++ b/source/blender/windowmanager/wm_event_types.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_files.h b/source/blender/windowmanager/wm_files.h
index c9e5d294853..64f05e7c581 100644
--- a/source/blender/windowmanager/wm_files.h
+++ b/source/blender/windowmanager/wm_files.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_subwindow.h b/source/blender/windowmanager/wm_subwindow.h
index e0901ee24aa..6fecefe5479 100644
--- a/source/blender/windowmanager/wm_subwindow.h
+++ b/source/blender/windowmanager/wm_subwindow.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blender/windowmanager/wm_window.h b/source/blender/windowmanager/wm_window.h
index f28f1ef0fcc..ec6d815cfc2 100644
--- a/source/blender/windowmanager/wm_window.h
+++ b/source/blender/windowmanager/wm_window.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/blenderplayer/CMakeLists.txt b/source/blenderplayer/CMakeLists.txt
index 82847cb8079..701ad244fc1 100644
--- a/source/blenderplayer/CMakeLists.txt
+++ b/source/blenderplayer/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -165,6 +164,8 @@ endif()
 		list(APPEND BLENDER_SORTED_LIBS extern_lzma)
 	endif()
 
+	list(APPEND BLENDER_SORTED_LIBS extern_colamd)
+
 	if(WITH_MOD_DECIMATE)
 		list(APPEND BLENDER_SORTED_LIBS bf_intern_decimate)
 	endif()
diff --git a/source/blenderplayer/bad_level_call_stubs/CMakeLists.txt b/source/blenderplayer/bad_level_call_stubs/CMakeLists.txt
index 0610cf2fdbe..afd5f5b0177 100644
--- a/source/blenderplayer/bad_level_call_stubs/CMakeLists.txt
+++ b/source/blenderplayer/bad_level_call_stubs/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/blenderplayer/bad_level_call_stubs/stubs.c b/source/blenderplayer/bad_level_call_stubs/stubs.c
index 8b9ef3835d2..1dbed479d40 100644
--- a/source/blenderplayer/bad_level_call_stubs/stubs.c
+++ b/source/blenderplayer/bad_level_call_stubs/stubs.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/creator/CMakeLists.txt b/source/creator/CMakeLists.txt
index 5336fe6439e..867ea37e0a1 100644
--- a/source/creator/CMakeLists.txt
+++ b/source/creator/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -815,6 +814,7 @@ endif()
 		bf_intern_smoke
 		extern_minilzo
 		extern_lzma
+		extern_colamd
 		ge_logic_ketsji
 		extern_recastnavigation
 		ge_phys_common
diff --git a/source/creator/buildinfo.c b/source/creator/buildinfo.c
index 3853d6ca693..c71b2d5e833 100644
--- a/source/creator/buildinfo.c
+++ b/source/creator/buildinfo.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/creator/creator.c b/source/creator/creator.c
index a062021ff7c..1d083af7d07 100644
--- a/source/creator/creator.c
+++ b/source/creator/creator.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
index af4df5035bb..360a082b03b 100644
--- a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
+++ b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/BL_System.cpp b/source/gameengine/BlenderRoutines/BL_System.cpp
index 30b8beef156..a97d1a6d5e9 100644
--- a/source/gameengine/BlenderRoutines/BL_System.cpp
+++ b/source/gameengine/BlenderRoutines/BL_System.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/BL_System.h b/source/gameengine/BlenderRoutines/BL_System.h
index d743ef5532a..7e523ea9b2b 100644
--- a/source/gameengine/BlenderRoutines/BL_System.h
+++ b/source/gameengine/BlenderRoutines/BL_System.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderCanvas.cpp b/source/gameengine/BlenderRoutines/KX_BlenderCanvas.cpp
index ded72b45b81..2a21b531b6b 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderCanvas.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderCanvas.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderCanvas.h b/source/gameengine/BlenderRoutines/KX_BlenderCanvas.h
index b5b5908e7ae..1f38cf9766d 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderCanvas.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderCanvas.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderGL.cpp b/source/gameengine/BlenderRoutines/KX_BlenderGL.cpp
index edf9d244e85..9d2e8751a41 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderGL.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderGL.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderGL.h b/source/gameengine/BlenderRoutines/KX_BlenderGL.h
index 4e206150081..6d8e2407793 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderGL.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderGL.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.cpp b/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.cpp
index 84af5b28296..8d224051df4 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.h b/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.h
index 7e9a57a0fe7..1c91f498d32 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderInputDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.cpp b/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.cpp
index 9ccf55a62a3..a6712c531fb 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.h b/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.h
index b4eb7bf6083..63a01db2fe0 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderKeyboardDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.cpp b/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.cpp
index 2432bf9c25a..718db0bf0e3 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.h b/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.h
index e192259e0d7..9f0277fbc07 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderMouseDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
index fca160c60a6..43166c0698a 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
index 8755ff0a4a1..f259e0ca1c3 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderSystem.cpp b/source/gameengine/BlenderRoutines/KX_BlenderSystem.cpp
index f6666e28f31..d7d8c5121a2 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderSystem.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderSystem.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderSystem.h b/source/gameengine/BlenderRoutines/KX_BlenderSystem.h
index 244476d8cf6..526a7b12fbb 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderSystem.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderSystem.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/CMakeLists.txt b/source/gameengine/CMakeLists.txt
index 5dece449120..5a3d42f33e3 100644
--- a/source/gameengine/CMakeLists.txt
+++ b/source/gameengine/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ActionActuator.cpp b/source/gameengine/Converter/BL_ActionActuator.cpp
index 557b4aa7f11..6f2ca28c135 100644
--- a/source/gameengine/Converter/BL_ActionActuator.cpp
+++ b/source/gameengine/Converter/BL_ActionActuator.cpp
@@ -1,6 +1,4 @@
 /*
-* $Id$
-*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file gameengine/Converter/BL_ActionActuator.cpp
  *  \ingroup bgeconv
@@ -160,6 +158,8 @@ void BL_ActionActuator::SetLocalTime(float curtime)
 
 			m_starttime = curtime;
 
+			m_flag ^= ACT_FLAG_REVERSE;
+
 			break;
 		}
 	}
@@ -208,9 +208,8 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 		
 			if (m_flag & ACT_FLAG_REVERSE)
 			{
-				m_localtime = start;
-				start = end;
-				end = m_localtime;
+				start = m_endframe;
+				end = m_startframe;
 			}
 
 			break;
@@ -238,6 +237,12 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 		RemoveAllEvents();
 	}
 
+	if (bUseContinue && (m_flag & ACT_FLAG_ACTIVE))
+	{
+		m_localtime = obj->GetActionFrame(m_layer);
+		ResetStartTime(curtime);
+	}
+
 	if (m_flag & ACT_FLAG_ATTEMPT_PLAY)
 		SetLocalTime(curtime);
 
@@ -259,6 +264,9 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 	{
 		m_flag &= ~ACT_FLAG_ACTIVE;
 		m_flag &= ~ACT_FLAG_ATTEMPT_PLAY;
+
+		if (m_playtype == ACT_ACTION_PINGPONG)
+			m_flag ^= ACT_FLAG_REVERSE;
 		return false;
 	}
 	
@@ -268,7 +276,7 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 
 	if (bPositiveEvent || (m_flag & ACT_FLAG_ATTEMPT_PLAY && !(m_flag & ACT_FLAG_ACTIVE)))
 	{
-		if (bPositiveEvent)
+		if (bPositiveEvent && m_playtype == ACT_ACTION_PLAY)
 		{
 			if (obj->IsActionDone(m_layer))
 				m_localtime = start;
@@ -281,7 +289,7 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 			if (bUseContinue)
 				obj->SetActionFrame(m_layer, m_localtime);
 
-			if (m_playtype == ACT_ACTION_PLAY)
+			if (m_playtype == ACT_ACTION_PLAY || m_playtype == ACT_ACTION_PINGPONG)
 				m_flag |= ACT_FLAG_PLAY_END;
 			else
 				m_flag &= ~ACT_FLAG_PLAY_END;
@@ -309,9 +317,6 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 				// We're done
 				m_flag &= ~ACT_FLAG_ACTIVE;
 				return false;
-			case ACT_ACTION_PINGPONG:
-				m_flag ^= ACT_FLAG_REVERSE;
-				// Now fallthrough to LOOP_END code
 			case ACT_ACTION_LOOP_END:
 				// Convert into a play and let it finish
 				obj->SetPlayMode(m_layer, BL_Action::ACT_MODE_PLAY);
@@ -329,12 +334,6 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 				break;
 		}
 	}
-	
-	if (bUseContinue && (m_flag & ACT_FLAG_ACTIVE))
-	{
-		m_localtime = obj->GetActionFrame(m_layer);
-		ResetStartTime(curtime);
-	}
 
 	return true;
 }
diff --git a/source/gameengine/Converter/BL_ActionActuator.h b/source/gameengine/Converter/BL_ActionActuator.h
index 357c2b4a05e..2fb774dad44 100644
--- a/source/gameengine/Converter/BL_ActionActuator.h
+++ b/source/gameengine/Converter/BL_ActionActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureActuator.cpp b/source/gameengine/Converter/BL_ArmatureActuator.cpp
index a56fab31a26..73403baa15e 100644
--- a/source/gameengine/Converter/BL_ArmatureActuator.cpp
+++ b/source/gameengine/Converter/BL_ArmatureActuator.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureActuator.h b/source/gameengine/Converter/BL_ArmatureActuator.h
index 70aa526d4d3..8390444613c 100644
--- a/source/gameengine/Converter/BL_ArmatureActuator.h
+++ b/source/gameengine/Converter/BL_ArmatureActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureChannel.cpp b/source/gameengine/Converter/BL_ArmatureChannel.cpp
index 5442878d6c5..1da4b388823 100644
--- a/source/gameengine/Converter/BL_ArmatureChannel.cpp
+++ b/source/gameengine/Converter/BL_ArmatureChannel.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureChannel.h b/source/gameengine/Converter/BL_ArmatureChannel.h
index 0a66d0038a2..585b6093a2b 100644
--- a/source/gameengine/Converter/BL_ArmatureChannel.h
+++ b/source/gameengine/Converter/BL_ArmatureChannel.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureConstraint.cpp b/source/gameengine/Converter/BL_ArmatureConstraint.cpp
index 3f1a111517c..ee78c4deed9 100644
--- a/source/gameengine/Converter/BL_ArmatureConstraint.cpp
+++ b/source/gameengine/Converter/BL_ArmatureConstraint.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureConstraint.h b/source/gameengine/Converter/BL_ArmatureConstraint.h
index 8e6ba1bc2d3..49a331e78a5 100644
--- a/source/gameengine/Converter/BL_ArmatureConstraint.h
+++ b/source/gameengine/Converter/BL_ArmatureConstraint.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureObject.cpp b/source/gameengine/Converter/BL_ArmatureObject.cpp
index 43c9bd434c5..836cfab6b49 100644
--- a/source/gameengine/Converter/BL_ArmatureObject.cpp
+++ b/source/gameengine/Converter/BL_ArmatureObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ArmatureObject.h b/source/gameengine/Converter/BL_ArmatureObject.h
index 1467f05c1bd..9847558f708 100644
--- a/source/gameengine/Converter/BL_ArmatureObject.h
+++ b/source/gameengine/Converter/BL_ArmatureObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 0f5176af60c..cedebbb9d0d 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.h b/source/gameengine/Converter/BL_BlenderDataConversion.h
index 0e8ea17fc38..2ae7fee1798 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.h
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_DeformableGameObject.cpp b/source/gameengine/Converter/BL_DeformableGameObject.cpp
index 48392ee8dda..9d514e99661 100644
--- a/source/gameengine/Converter/BL_DeformableGameObject.cpp
+++ b/source/gameengine/Converter/BL_DeformableGameObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_DeformableGameObject.h b/source/gameengine/Converter/BL_DeformableGameObject.h
index 3ba55664007..e86fff4fe69 100644
--- a/source/gameengine/Converter/BL_DeformableGameObject.h
+++ b/source/gameengine/Converter/BL_DeformableGameObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_MeshDeformer.cpp b/source/gameengine/Converter/BL_MeshDeformer.cpp
index 63db9167273..c4e7fd993c4 100644
--- a/source/gameengine/Converter/BL_MeshDeformer.cpp
+++ b/source/gameengine/Converter/BL_MeshDeformer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_MeshDeformer.h b/source/gameengine/Converter/BL_MeshDeformer.h
index 0968478ce7e..9c2065bddb8 100644
--- a/source/gameengine/Converter/BL_MeshDeformer.h
+++ b/source/gameengine/Converter/BL_MeshDeformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ModifierDeformer.cpp b/source/gameengine/Converter/BL_ModifierDeformer.cpp
index e504fa7e49d..08e96f421cc 100644
--- a/source/gameengine/Converter/BL_ModifierDeformer.cpp
+++ b/source/gameengine/Converter/BL_ModifierDeformer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ModifierDeformer.h b/source/gameengine/Converter/BL_ModifierDeformer.h
index e9e546ebc86..c9cd9153153 100644
--- a/source/gameengine/Converter/BL_ModifierDeformer.h
+++ b/source/gameengine/Converter/BL_ModifierDeformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ShapeActionActuator.cpp b/source/gameengine/Converter/BL_ShapeActionActuator.cpp
index c81ff107a98..ecf9427eddd 100644
--- a/source/gameengine/Converter/BL_ShapeActionActuator.cpp
+++ b/source/gameengine/Converter/BL_ShapeActionActuator.cpp
@@ -1,6 +1,4 @@
 /*
-* $Id$
-*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file gameengine/Converter/BL_ShapeActionActuator.cpp
  *  \ingroup bgeconv
diff --git a/source/gameengine/Converter/BL_ShapeActionActuator.h b/source/gameengine/Converter/BL_ShapeActionActuator.h
index efd24fc305f..c4251b3c503 100644
--- a/source/gameengine/Converter/BL_ShapeActionActuator.h
+++ b/source/gameengine/Converter/BL_ShapeActionActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ShapeDeformer.cpp b/source/gameengine/Converter/BL_ShapeDeformer.cpp
index f4c683f60ba..fb0a86d6084 100644
--- a/source/gameengine/Converter/BL_ShapeDeformer.cpp
+++ b/source/gameengine/Converter/BL_ShapeDeformer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_ShapeDeformer.h b/source/gameengine/Converter/BL_ShapeDeformer.h
index 609603ae52b..c768b2e1e75 100644
--- a/source/gameengine/Converter/BL_ShapeDeformer.h
+++ b/source/gameengine/Converter/BL_ShapeDeformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BL_SkinDeformer.cpp b/source/gameengine/Converter/BL_SkinDeformer.cpp
index 93c65eb38de..81533205909 100644
--- a/source/gameengine/Converter/BL_SkinDeformer.cpp
+++ b/source/gameengine/Converter/BL_SkinDeformer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -36,7 +34,7 @@
 #pragma warning (disable : 4786)
 #endif //WIN32
 
-// Eigen2 stuff used for BGEDeformVerts
+// Eigen3 stuff used for BGEDeformVerts
 #include <Eigen/Core>
 #include <Eigen/LU>
 
@@ -289,7 +287,7 @@ void BL_SkinDeformer::BGEDeformVerts()
 
 		
 		// Update Vertex Normal
-		norm = norm_chan_mat.corner<3, 3>(Eigen::TopLeft)*norm;
+		norm = norm_chan_mat.topLeftCorner<3, 3>()*norm;
 				
 		if (contrib > 0.0001f)
 		{
diff --git a/source/gameengine/Converter/BL_SkinDeformer.h b/source/gameengine/Converter/BL_SkinDeformer.h
index be974619281..afec027e099 100644
--- a/source/gameengine/Converter/BL_SkinDeformer.h
+++ b/source/gameengine/Converter/BL_SkinDeformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/BlenderWorldInfo.cpp b/source/gameengine/Converter/BlenderWorldInfo.cpp
index f003a0049e5..2225c7895d8 100644
--- a/source/gameengine/Converter/BlenderWorldInfo.cpp
+++ b/source/gameengine/Converter/BlenderWorldInfo.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can [0]istribute it and/or
diff --git a/source/gameengine/Converter/BlenderWorldInfo.h b/source/gameengine/Converter/BlenderWorldInfo.h
index 45737bd41bc..5d6ee6eaf19 100644
--- a/source/gameengine/Converter/BlenderWorldInfo.h
+++ b/source/gameengine/Converter/BlenderWorldInfo.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/CMakeLists.txt b/source/gameengine/Converter/CMakeLists.txt
index 039f454e870..b570489d6a2 100644
--- a/source/gameengine/Converter/CMakeLists.txt
+++ b/source/gameengine/Converter/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -51,7 +50,7 @@ set(INC
 	../../blender/makesrna
 	../../blender/windowmanager
 	../../../extern/bullet2/src
-	../../../extern/Eigen2
+	../../../extern/Eigen3
 	../../../intern/container
 	../../../intern/guardedalloc
 	../../../intern/moto/include
diff --git a/source/gameengine/Converter/KX_BlenderScalarInterpolator.cpp b/source/gameengine/Converter/KX_BlenderScalarInterpolator.cpp
index 75c0e012226..a7ef518336a 100644
--- a/source/gameengine/Converter/KX_BlenderScalarInterpolator.cpp
+++ b/source/gameengine/Converter/KX_BlenderScalarInterpolator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_BlenderScalarInterpolator.h b/source/gameengine/Converter/KX_BlenderScalarInterpolator.h
index cca66b3771c..23aef75e48f 100644
--- a/source/gameengine/Converter/KX_BlenderScalarInterpolator.h
+++ b/source/gameengine/Converter/KX_BlenderScalarInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 656dcfa3220..7699e86f19f 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.h b/source/gameengine/Converter/KX_BlenderSceneConverter.h
index ba919eb9592..f9b0d587b81 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.h
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp
index a14e5fb5449..6e9c51eaa83 100644
--- a/source/gameengine/Converter/KX_ConvertActuators.cpp
+++ b/source/gameengine/Converter/KX_ConvertActuators.cpp
@@ -1,6 +1,4 @@
 /*
-* $Id$
-*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,8 +23,8 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-* Convert Blender actuators for use in the GameEngine
-*/
+ * Convert Blender actuators for use in the GameEngine
+ */
 
 /** \file gameengine/Converter/KX_ConvertActuators.cpp
  *  \ingroup bgeconv
diff --git a/source/gameengine/Converter/KX_ConvertActuators.h b/source/gameengine/Converter/KX_ConvertActuators.h
index 90bb3f3fabd..e1c1d22337c 100644
--- a/source/gameengine/Converter/KX_ConvertActuators.h
+++ b/source/gameengine/Converter/KX_ConvertActuators.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertControllers.cpp b/source/gameengine/Converter/KX_ConvertControllers.cpp
index fafaaf5cef6..9ba79e26f7e 100644
--- a/source/gameengine/Converter/KX_ConvertControllers.cpp
+++ b/source/gameengine/Converter/KX_ConvertControllers.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertControllers.h b/source/gameengine/Converter/KX_ConvertControllers.h
index c06c3825fd5..19045dc26d1 100644
--- a/source/gameengine/Converter/KX_ConvertControllers.h
+++ b/source/gameengine/Converter/KX_ConvertControllers.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertProperties.cpp b/source/gameengine/Converter/KX_ConvertProperties.cpp
index 33fd1e361d2..7a574276eb4 100644
--- a/source/gameengine/Converter/KX_ConvertProperties.cpp
+++ b/source/gameengine/Converter/KX_ConvertProperties.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertProperties.h b/source/gameengine/Converter/KX_ConvertProperties.h
index 19c56fdc1d9..b151b70019d 100644
--- a/source/gameengine/Converter/KX_ConvertProperties.h
+++ b/source/gameengine/Converter/KX_ConvertProperties.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertSensors.cpp b/source/gameengine/Converter/KX_ConvertSensors.cpp
index a250bc6064b..b7aee8ec924 100644
--- a/source/gameengine/Converter/KX_ConvertSensors.cpp
+++ b/source/gameengine/Converter/KX_ConvertSensors.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_ConvertSensors.h b/source/gameengine/Converter/KX_ConvertSensors.h
index 75a58deedc8..1405aee8701 100644
--- a/source/gameengine/Converter/KX_ConvertSensors.h
+++ b/source/gameengine/Converter/KX_ConvertSensors.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_IpoConvert.cpp b/source/gameengine/Converter/KX_IpoConvert.cpp
index 4ea77e4349d..1db5f1114c2 100644
--- a/source/gameengine/Converter/KX_IpoConvert.cpp
+++ b/source/gameengine/Converter/KX_IpoConvert.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_IpoConvert.h b/source/gameengine/Converter/KX_IpoConvert.h
index 60e695c68a7..49ac6f0b89a 100644
--- a/source/gameengine/Converter/KX_IpoConvert.h
+++ b/source/gameengine/Converter/KX_IpoConvert.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
index 02c259d793b..6fe662ac7ed 100644
--- a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
+++ b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/KX_SoftBodyDeformer.h b/source/gameengine/Converter/KX_SoftBodyDeformer.h
index 67eb9d7b285..6e3ca739501 100644
--- a/source/gameengine/Converter/KX_SoftBodyDeformer.h
+++ b/source/gameengine/Converter/KX_SoftBodyDeformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Converter/SConscript b/source/gameengine/Converter/SConscript
index e155677e522..5d8e2bc93b6 100644
--- a/source/gameengine/Converter/SConscript
+++ b/source/gameengine/Converter/SConscript
@@ -21,7 +21,7 @@ incs += ' #source/blender/windowmanager'
 incs += ' #source/blender/makesrna'
 incs += ' #source/blender/ikplugin'
 incs += ' #extern/recastnavigation/Detour/Include'
-incs += ' #extern/Eigen2'
+incs += ' #extern/Eigen3'
 
 incs += ' ' + env['BF_BULLET_INC']
 
diff --git a/source/gameengine/Expressions/BoolValue.h b/source/gameengine/Expressions/BoolValue.h
index a88bcf98e77..00baeba0857 100644
--- a/source/gameengine/Expressions/BoolValue.h
+++ b/source/gameengine/Expressions/BoolValue.h
@@ -1,6 +1,5 @@
 /*
  * BoolValue.h: interface for the CBoolValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/CMakeLists.txt b/source/gameengine/Expressions/CMakeLists.txt
index ad987091790..df2ad2dffa7 100644
--- a/source/gameengine/Expressions/CMakeLists.txt
+++ b/source/gameengine/Expressions/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/ConstExpr.h b/source/gameengine/Expressions/ConstExpr.h
index 07278eb03f6..30b830cb92c 100644
--- a/source/gameengine/Expressions/ConstExpr.h
+++ b/source/gameengine/Expressions/ConstExpr.h
@@ -1,6 +1,5 @@
 /*
  * ConstExpr.h: interface for the CConstExpr class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/EXP_C-Api.cpp b/source/gameengine/Expressions/EXP_C-Api.cpp
index a5d0ce5e8f8..763d115a840 100644
--- a/source/gameengine/Expressions/EXP_C-Api.cpp
+++ b/source/gameengine/Expressions/EXP_C-Api.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/EXP_C-Api.h b/source/gameengine/Expressions/EXP_C-Api.h
index 89156033be5..2f179547a2b 100644
--- a/source/gameengine/Expressions/EXP_C-Api.h
+++ b/source/gameengine/Expressions/EXP_C-Api.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/EmptyValue.h b/source/gameengine/Expressions/EmptyValue.h
index 1b1c1159169..1da0ee8e928 100644
--- a/source/gameengine/Expressions/EmptyValue.h
+++ b/source/gameengine/Expressions/EmptyValue.h
@@ -1,6 +1,5 @@
 /*
  * EmptyValue.h: interface for the CEmptyValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/ErrorValue.h b/source/gameengine/Expressions/ErrorValue.h
index 7f18e751af9..ec81fc2c82b 100644
--- a/source/gameengine/Expressions/ErrorValue.h
+++ b/source/gameengine/Expressions/ErrorValue.h
@@ -1,6 +1,5 @@
 /*
  * ErrorValue.h: interface for the CErrorValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/Expression.h b/source/gameengine/Expressions/Expression.h
index c285fa118c1..875bd758b68 100644
--- a/source/gameengine/Expressions/Expression.h
+++ b/source/gameengine/Expressions/Expression.h
@@ -1,6 +1,5 @@
 /*
  * Expression.h: interface for the CExpression class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/FloatValue.h b/source/gameengine/Expressions/FloatValue.h
index 535939e1758..8dfb42d6b2e 100644
--- a/source/gameengine/Expressions/FloatValue.h
+++ b/source/gameengine/Expressions/FloatValue.h
@@ -1,6 +1,5 @@
 /*
  * FloatValue.h: interface for the CFloatValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/IdentifierExpr.cpp b/source/gameengine/Expressions/IdentifierExpr.cpp
index e469709c9b2..c9e053574cd 100644
--- a/source/gameengine/Expressions/IdentifierExpr.cpp
+++ b/source/gameengine/Expressions/IdentifierExpr.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/IdentifierExpr.h b/source/gameengine/Expressions/IdentifierExpr.h
index 676b1b11607..bf996f5e2f0 100644
--- a/source/gameengine/Expressions/IdentifierExpr.h
+++ b/source/gameengine/Expressions/IdentifierExpr.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/IfExpr.h b/source/gameengine/Expressions/IfExpr.h
index e67134c2271..c0caa7f3e17 100644
--- a/source/gameengine/Expressions/IfExpr.h
+++ b/source/gameengine/Expressions/IfExpr.h
@@ -1,6 +1,5 @@
 /*
  * IfExpr.h: interface for the CIfExpr class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/InputParser.h b/source/gameengine/Expressions/InputParser.h
index d5a9295ab8b..085e6870429 100644
--- a/source/gameengine/Expressions/InputParser.h
+++ b/source/gameengine/Expressions/InputParser.h
@@ -2,7 +2,6 @@
  * Parser.h: interface for the CParser class.
  * Eindhoven University of Technology 1997
  * OOPS team (Serge vd Boom, Erwin Coumans, Tom Geelen, Wynke Stuylemeier)
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/IntValue.h b/source/gameengine/Expressions/IntValue.h
index 5460f744de3..bae3eb11298 100644
--- a/source/gameengine/Expressions/IntValue.h
+++ b/source/gameengine/Expressions/IntValue.h
@@ -1,6 +1,5 @@
 /*
  * IntValue.h: interface for the CIntValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/KX_HashedPtr.cpp b/source/gameengine/Expressions/KX_HashedPtr.cpp
index f6cd5814e22..988b78b8810 100644
--- a/source/gameengine/Expressions/KX_HashedPtr.cpp
+++ b/source/gameengine/Expressions/KX_HashedPtr.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/KX_HashedPtr.h b/source/gameengine/Expressions/KX_HashedPtr.h
index 77e581360e7..8f2b524b595 100644
--- a/source/gameengine/Expressions/KX_HashedPtr.h
+++ b/source/gameengine/Expressions/KX_HashedPtr.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/KX_Python.h b/source/gameengine/Expressions/KX_Python.h
index 9d295e1910e..98f8d922bea 100644
--- a/source/gameengine/Expressions/KX_Python.h
+++ b/source/gameengine/Expressions/KX_Python.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/ListValue.h b/source/gameengine/Expressions/ListValue.h
index c1530d86d8c..76451215f82 100644
--- a/source/gameengine/Expressions/ListValue.h
+++ b/source/gameengine/Expressions/ListValue.h
@@ -1,6 +1,5 @@
 /*
  * ListValue.h: interface for the CListValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/Operator1Expr.h b/source/gameengine/Expressions/Operator1Expr.h
index c6fce709248..c2e005c8196 100644
--- a/source/gameengine/Expressions/Operator1Expr.h
+++ b/source/gameengine/Expressions/Operator1Expr.h
@@ -1,6 +1,5 @@
 /*
  * Operator1Expr.h: interface for the COperator1Expr class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/Operator2Expr.h b/source/gameengine/Expressions/Operator2Expr.h
index 3b4d604c254..8064aeec3fc 100644
--- a/source/gameengine/Expressions/Operator2Expr.h
+++ b/source/gameengine/Expressions/Operator2Expr.h
@@ -1,6 +1,5 @@
 /*
  * Operator2Expr.h: interface for the COperator2Expr class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/PyObjectPlus.cpp b/source/gameengine/Expressions/PyObjectPlus.cpp
index 92be769ed71..33aa6b8d177 100644
--- a/source/gameengine/Expressions/PyObjectPlus.cpp
+++ b/source/gameengine/Expressions/PyObjectPlus.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/PyObjectPlus.h b/source/gameengine/Expressions/PyObjectPlus.h
index dd4c9a880fd..7ee4760c48d 100644
--- a/source/gameengine/Expressions/PyObjectPlus.h
+++ b/source/gameengine/Expressions/PyObjectPlus.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Expressions/StringValue.h b/source/gameengine/Expressions/StringValue.h
index 6afe7fa5935..d0f74a6eed8 100644
--- a/source/gameengine/Expressions/StringValue.h
+++ b/source/gameengine/Expressions/StringValue.h
@@ -1,6 +1,5 @@
 /*
  * StringValue.h: interface for the CStringValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/Value.h b/source/gameengine/Expressions/Value.h
index ef7edd397b7..955e688ad7b 100644
--- a/source/gameengine/Expressions/Value.h
+++ b/source/gameengine/Expressions/Value.h
@@ -1,6 +1,5 @@
 /*
  * Value.h: interface for the CValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/VectorValue.h b/source/gameengine/Expressions/VectorValue.h
index 94d1ae65ada..6ff47843282 100644
--- a/source/gameengine/Expressions/VectorValue.h
+++ b/source/gameengine/Expressions/VectorValue.h
@@ -1,6 +1,5 @@
 /*
  * VectorValue.h: interface for the CVectorValue class.
- * $Id$
  * Copyright (c) 1996-2000 Erwin Coumans <coockie@acm.org>
  *
  * Permission to use, copy, modify, distribute and sell this software
diff --git a/source/gameengine/Expressions/VoidValue.h b/source/gameengine/Expressions/VoidValue.h
index 2e5c056d793..8e2545b309d 100644
--- a/source/gameengine/Expressions/VoidValue.h
+++ b/source/gameengine/Expressions/VoidValue.h
@@ -1,6 +1,5 @@
 /*
  * VoidValue.h: interface for the CVoidValue class.
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/CMakeLists.txt b/source/gameengine/GameLogic/CMakeLists.txt
index 9a57de60517..64c2af9031b 100644
--- a/source/gameengine/GameLogic/CMakeLists.txt
+++ b/source/gameengine/GameLogic/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp b/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
index 33d7ec5b4fc..05422edb62c 100644
--- a/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * SCA_2DFilterActuator.cpp
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_2DFilterActuator.h b/source/gameengine/GameLogic/SCA_2DFilterActuator.h
index 01396839291..ec4c4a1cbcf 100644
--- a/source/gameengine/GameLogic/SCA_2DFilterActuator.h
+++ b/source/gameengine/GameLogic/SCA_2DFilterActuator.h
@@ -1,7 +1,6 @@
 /*
  * SCA_2DFilterActuator.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ANDController.cpp b/source/gameengine/GameLogic/SCA_ANDController.cpp
index 4228d8374b7..3c60f2b8847 100644
--- a/source/gameengine/GameLogic/SCA_ANDController.cpp
+++ b/source/gameengine/GameLogic/SCA_ANDController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'And' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ANDController.h b/source/gameengine/GameLogic/SCA_ANDController.h
index 728dc121f80..e39dea547a2 100644
--- a/source/gameengine/GameLogic/SCA_ANDController.h
+++ b/source/gameengine/GameLogic/SCA_ANDController.h
@@ -1,7 +1,6 @@
 /*
  * SCA_ANDController.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp b/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp
index 00e3a03dcc8..fcb236f0913 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ActuatorEventManager.h b/source/gameengine/GameLogic/SCA_ActuatorEventManager.h
index 8530c944c49..f4d2d7dfd7d 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorEventManager.h
+++ b/source/gameengine/GameLogic/SCA_ActuatorEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
index 81f58c30a7d..8b0ea2394c8 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Actuator sensor
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.h b/source/gameengine/GameLogic/SCA_ActuatorSensor.h
index cb3e2e05125..9b5793787a2 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorSensor.h
+++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.h
@@ -1,7 +1,6 @@
 /*
  * Actuator sensor
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_AlwaysEventManager.cpp b/source/gameengine/GameLogic/SCA_AlwaysEventManager.cpp
index bf858f4d4ef..22746953a27 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_AlwaysEventManager.cpp
@@ -2,7 +2,6 @@
  * Manager for 'always' events. Since always sensors can operate in pulse
  * mode, they need to be activated.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_AlwaysEventManager.h b/source/gameengine/GameLogic/SCA_AlwaysEventManager.h
index 4e05c7cf60c..2801d649237 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysEventManager.h
+++ b/source/gameengine/GameLogic/SCA_AlwaysEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp b/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
index f9e8a70ba41..6b697f4f15b 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Always trigger
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_AlwaysSensor.h b/source/gameengine/GameLogic/SCA_AlwaysSensor.h
index 9e4d120d1bd..41e9a9612c6 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysSensor.h
+++ b/source/gameengine/GameLogic/SCA_AlwaysSensor.h
@@ -1,7 +1,6 @@
 /*
  * SCA_AlwaysSensor.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_BasicEventManager.cpp b/source/gameengine/GameLogic/SCA_BasicEventManager.cpp
index 21a3f7aba8d..e87f9b8f0e4 100644
--- a/source/gameengine/GameLogic/SCA_BasicEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_BasicEventManager.cpp
@@ -2,7 +2,6 @@
  * Manager for 'always' events. Since always sensors can operate in pulse
  * mode, they need to be activated.
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_BasicEventManager.h b/source/gameengine/GameLogic/SCA_BasicEventManager.h
index 8c6741859bf..73e3babbdcf 100644
--- a/source/gameengine/GameLogic/SCA_BasicEventManager.h
+++ b/source/gameengine/GameLogic/SCA_BasicEventManager.h
@@ -1,7 +1,6 @@
 /*
  * Manager for sensor that only need to call Update
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_DelaySensor.cpp b/source/gameengine/GameLogic/SCA_DelaySensor.cpp
index 7bfe7a0771a..f2bcd67e652 100644
--- a/source/gameengine/GameLogic/SCA_DelaySensor.cpp
+++ b/source/gameengine/GameLogic/SCA_DelaySensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Delay trigger
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_DelaySensor.h b/source/gameengine/GameLogic/SCA_DelaySensor.h
index f690caca50b..fea713502b4 100644
--- a/source/gameengine/GameLogic/SCA_DelaySensor.h
+++ b/source/gameengine/GameLogic/SCA_DelaySensor.h
@@ -1,7 +1,6 @@
 /*
  * SCA_DelaySensor.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_EventManager.cpp b/source/gameengine/GameLogic/SCA_EventManager.cpp
index e02bb0c5029..ffe1ea2dc30 100644
--- a/source/gameengine/GameLogic/SCA_EventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_EventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_EventManager.h b/source/gameengine/GameLogic/SCA_EventManager.h
index 88a750d346c..ea24b5c038b 100644
--- a/source/gameengine/GameLogic/SCA_EventManager.h
+++ b/source/gameengine/GameLogic/SCA_EventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ExpressionController.cpp b/source/gameengine/GameLogic/SCA_ExpressionController.cpp
index ef33a54ae3e..41a0fa7d095 100644
--- a/source/gameengine/GameLogic/SCA_ExpressionController.cpp
+++ b/source/gameengine/GameLogic/SCA_ExpressionController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Expression Controller enables to calculate an expression that wires inputs to output
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ExpressionController.h b/source/gameengine/GameLogic/SCA_ExpressionController.h
index 2c3005c4c2d..4e549c08ed1 100644
--- a/source/gameengine/GameLogic/SCA_ExpressionController.h
+++ b/source/gameengine/GameLogic/SCA_ExpressionController.h
@@ -1,7 +1,6 @@
 /*
  * KX_EXPRESSIONController.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_IActuator.cpp b/source/gameengine/GameLogic/SCA_IActuator.cpp
index f6739976ffd..9a355fdf3c9 100644
--- a/source/gameengine/GameLogic/SCA_IActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_IActuator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IActuator.h b/source/gameengine/GameLogic/SCA_IActuator.h
index d2a8de32895..feb21a721d5 100644
--- a/source/gameengine/GameLogic/SCA_IActuator.h
+++ b/source/gameengine/GameLogic/SCA_IActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IController.cpp b/source/gameengine/GameLogic/SCA_IController.cpp
index 6dd04750081..3fda542410a 100644
--- a/source/gameengine/GameLogic/SCA_IController.cpp
+++ b/source/gameengine/GameLogic/SCA_IController.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IController.h b/source/gameengine/GameLogic/SCA_IController.h
index 541d69c6f3b..795e02dcf78 100644
--- a/source/gameengine/GameLogic/SCA_IController.h
+++ b/source/gameengine/GameLogic/SCA_IController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IInputDevice.cpp b/source/gameengine/GameLogic/SCA_IInputDevice.cpp
index 4ff80cdf46d..181889f0375 100644
--- a/source/gameengine/GameLogic/SCA_IInputDevice.cpp
+++ b/source/gameengine/GameLogic/SCA_IInputDevice.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IInputDevice.h b/source/gameengine/GameLogic/SCA_IInputDevice.h
index 49d52d0befc..5c36d88e29d 100644
--- a/source/gameengine/GameLogic/SCA_IInputDevice.h
+++ b/source/gameengine/GameLogic/SCA_IInputDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ILogicBrick.cpp b/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
index 596118855d2..018a939f68d 100644
--- a/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
+++ b/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ILogicBrick.h b/source/gameengine/GameLogic/SCA_ILogicBrick.h
index 4de0562339e..4016c557bf3 100644
--- a/source/gameengine/GameLogic/SCA_ILogicBrick.h
+++ b/source/gameengine/GameLogic/SCA_ILogicBrick.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IObject.cpp b/source/gameengine/GameLogic/SCA_IObject.cpp
index 7bf3e75795d..5077ecaf816 100644
--- a/source/gameengine/GameLogic/SCA_IObject.cpp
+++ b/source/gameengine/GameLogic/SCA_IObject.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IObject.h b/source/gameengine/GameLogic/SCA_IObject.h
index 8ff7dcc4ad5..1d16d4f0af7 100644
--- a/source/gameengine/GameLogic/SCA_IObject.h
+++ b/source/gameengine/GameLogic/SCA_IObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IScene.cpp b/source/gameengine/GameLogic/SCA_IScene.cpp
index 9cff5a0ab04..c2ea8b4a8bc 100644
--- a/source/gameengine/GameLogic/SCA_IScene.cpp
+++ b/source/gameengine/GameLogic/SCA_IScene.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_IScene.h b/source/gameengine/GameLogic/SCA_IScene.h
index a441a512550..78dd3f7183f 100644
--- a/source/gameengine/GameLogic/SCA_IScene.h
+++ b/source/gameengine/GameLogic/SCA_IScene.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ISensor.cpp b/source/gameengine/GameLogic/SCA_ISensor.cpp
index 85982bd3c0f..336150b2d6d 100644
--- a/source/gameengine/GameLogic/SCA_ISensor.cpp
+++ b/source/gameengine/GameLogic/SCA_ISensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Abstract class for sensor logic bricks
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ISensor.h b/source/gameengine/GameLogic/SCA_ISensor.h
index f90f1e19a67..970faf7d29a 100644
--- a/source/gameengine/GameLogic/SCA_ISensor.h
+++ b/source/gameengine/GameLogic/SCA_ISensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_KeyboardManager.cpp b/source/gameengine/GameLogic/SCA_KeyboardManager.cpp
index 73aece3901c..3111ad0de5f 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardManager.cpp
+++ b/source/gameengine/GameLogic/SCA_KeyboardManager.cpp
@@ -1,7 +1,6 @@
 /*
  * Manager for keyboard events
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_KeyboardManager.h b/source/gameengine/GameLogic/SCA_KeyboardManager.h
index a74636d4582..55dd189d9d1 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardManager.h
+++ b/source/gameengine/GameLogic/SCA_KeyboardManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
index a2374ccb9da..45780735c49 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_KeyboardSensor.h b/source/gameengine/GameLogic/SCA_KeyboardSensor.h
index 6df648bf2d3..37a42cdcbe6 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardSensor.h
+++ b/source/gameengine/GameLogic/SCA_KeyboardSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_LogicManager.cpp b/source/gameengine/GameLogic/SCA_LogicManager.cpp
index 28f96243dd8..a684ce93aed 100644
--- a/source/gameengine/GameLogic/SCA_LogicManager.cpp
+++ b/source/gameengine/GameLogic/SCA_LogicManager.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_LogicManager.h b/source/gameengine/GameLogic/SCA_LogicManager.h
index c4735d1c146..ec8343075d8 100644
--- a/source/gameengine/GameLogic/SCA_LogicManager.h
+++ b/source/gameengine/GameLogic/SCA_LogicManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_MouseManager.cpp b/source/gameengine/GameLogic/SCA_MouseManager.cpp
index 8c98e5f64f6..a067b9c4d5b 100644
--- a/source/gameengine/GameLogic/SCA_MouseManager.cpp
+++ b/source/gameengine/GameLogic/SCA_MouseManager.cpp
@@ -2,7 +2,6 @@
  * Manager for mouse events
  *
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_MouseManager.h b/source/gameengine/GameLogic/SCA_MouseManager.h
index 737da049c2e..d22d27be394 100644
--- a/source/gameengine/GameLogic/SCA_MouseManager.h
+++ b/source/gameengine/GameLogic/SCA_MouseManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_MouseSensor.cpp b/source/gameengine/GameLogic/SCA_MouseSensor.cpp
index 93d2ae2c1c5..919247dd9c4 100644
--- a/source/gameengine/GameLogic/SCA_MouseSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_MouseSensor.cpp
@@ -2,7 +2,6 @@
  * Sensor for mouse input
  *
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_MouseSensor.h b/source/gameengine/GameLogic/SCA_MouseSensor.h
index 7b83812a669..ecfa776112a 100644
--- a/source/gameengine/GameLogic/SCA_MouseSensor.h
+++ b/source/gameengine/GameLogic/SCA_MouseSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_NANDController.cpp b/source/gameengine/GameLogic/SCA_NANDController.cpp
index b800ebbfa42..c78ce77f9fb 100644
--- a/source/gameengine/GameLogic/SCA_NANDController.cpp
+++ b/source/gameengine/GameLogic/SCA_NANDController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Nand' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_NANDController.h b/source/gameengine/GameLogic/SCA_NANDController.h
index 4353c653046..8eb26127a51 100644
--- a/source/gameengine/GameLogic/SCA_NANDController.h
+++ b/source/gameengine/GameLogic/SCA_NANDController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_NORController.cpp b/source/gameengine/GameLogic/SCA_NORController.cpp
index 3b955d43a7f..e7fb6437feb 100644
--- a/source/gameengine/GameLogic/SCA_NORController.cpp
+++ b/source/gameengine/GameLogic/SCA_NORController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Nor' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_NORController.h b/source/gameengine/GameLogic/SCA_NORController.h
index 5bb3b346e56..6580ad7bc8c 100644
--- a/source/gameengine/GameLogic/SCA_NORController.h
+++ b/source/gameengine/GameLogic/SCA_NORController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_ORController.cpp b/source/gameengine/GameLogic/SCA_ORController.cpp
index 1e1126ba02d..b147f8e6bf6 100644
--- a/source/gameengine/GameLogic/SCA_ORController.cpp
+++ b/source/gameengine/GameLogic/SCA_ORController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Or' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_ORController.h b/source/gameengine/GameLogic/SCA_ORController.h
index 6baaa50f43d..4edd34f6302 100644
--- a/source/gameengine/GameLogic/SCA_ORController.h
+++ b/source/gameengine/GameLogic/SCA_ORController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PropertyActuator.cpp b/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
index a4af1c35652..844cf7ae96d 100644
--- a/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Assign, change, copy properties
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_PropertyActuator.h b/source/gameengine/GameLogic/SCA_PropertyActuator.h
index 35660710679..f4a43a7e21c 100644
--- a/source/gameengine/GameLogic/SCA_PropertyActuator.h
+++ b/source/gameengine/GameLogic/SCA_PropertyActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PropertyEventManager.cpp b/source/gameengine/GameLogic/SCA_PropertyEventManager.cpp
index 28544e74c1b..854069690da 100644
--- a/source/gameengine/GameLogic/SCA_PropertyEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_PropertyEventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PropertyEventManager.h b/source/gameengine/GameLogic/SCA_PropertyEventManager.h
index b928a082a41..3e8a947410b 100644
--- a/source/gameengine/GameLogic/SCA_PropertyEventManager.h
+++ b/source/gameengine/GameLogic/SCA_PropertyEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PropertySensor.cpp b/source/gameengine/GameLogic/SCA_PropertySensor.cpp
index ce3d2abdc64..e1ee6c75b95 100644
--- a/source/gameengine/GameLogic/SCA_PropertySensor.cpp
+++ b/source/gameengine/GameLogic/SCA_PropertySensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Property sensor
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_PropertySensor.h b/source/gameengine/GameLogic/SCA_PropertySensor.h
index a0dee4da5ee..c1fe5320546 100644
--- a/source/gameengine/GameLogic/SCA_PropertySensor.h
+++ b/source/gameengine/GameLogic/SCA_PropertySensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PythonController.cpp b/source/gameengine/GameLogic/SCA_PythonController.cpp
index 19ddce13757..303b3e9529e 100644
--- a/source/gameengine/GameLogic/SCA_PythonController.cpp
+++ b/source/gameengine/GameLogic/SCA_PythonController.cpp
@@ -1,7 +1,6 @@
 /*
  * Execute Python scripts
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_PythonController.h b/source/gameengine/GameLogic/SCA_PythonController.h
index 739e566237b..0d22c347861 100644
--- a/source/gameengine/GameLogic/SCA_PythonController.h
+++ b/source/gameengine/GameLogic/SCA_PythonController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PythonKeyboard.cpp b/source/gameengine/GameLogic/SCA_PythonKeyboard.cpp
index f7d3c2f3f06..9c7f3831567 100644
--- a/source/gameengine/GameLogic/SCA_PythonKeyboard.cpp
+++ b/source/gameengine/GameLogic/SCA_PythonKeyboard.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PythonKeyboard.h b/source/gameengine/GameLogic/SCA_PythonKeyboard.h
index 98bde606a47..9c761e054f2 100644
--- a/source/gameengine/GameLogic/SCA_PythonKeyboard.h
+++ b/source/gameengine/GameLogic/SCA_PythonKeyboard.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PythonMouse.cpp b/source/gameengine/GameLogic/SCA_PythonMouse.cpp
index 94a0551c114..4f06445a79f 100644
--- a/source/gameengine/GameLogic/SCA_PythonMouse.cpp
+++ b/source/gameengine/GameLogic/SCA_PythonMouse.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_PythonMouse.h b/source/gameengine/GameLogic/SCA_PythonMouse.h
index 30a30b5d924..dfdf00bc6e9 100644
--- a/source/gameengine/GameLogic/SCA_PythonMouse.h
+++ b/source/gameengine/GameLogic/SCA_PythonMouse.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_RandomActuator.cpp b/source/gameengine/GameLogic/SCA_RandomActuator.cpp
index c9d11a27c76..b055a7b1603 100644
--- a/source/gameengine/GameLogic/SCA_RandomActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Set random/camera stuff
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_RandomActuator.h b/source/gameengine/GameLogic/SCA_RandomActuator.h
index d28586b267e..66d22d5952b 100644
--- a/source/gameengine/GameLogic/SCA_RandomActuator.h
+++ b/source/gameengine/GameLogic/SCA_RandomActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_RandomEventManager.cpp b/source/gameengine/GameLogic/SCA_RandomEventManager.cpp
index 0c1d30f77db..2ec6eb1db1b 100644
--- a/source/gameengine/GameLogic/SCA_RandomEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomEventManager.cpp
@@ -1,7 +1,6 @@
 /*
  * Manager for random events
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_RandomEventManager.h b/source/gameengine/GameLogic/SCA_RandomEventManager.h
index 686cc225eac..31e08776603 100644
--- a/source/gameengine/GameLogic/SCA_RandomEventManager.h
+++ b/source/gameengine/GameLogic/SCA_RandomEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_RandomNumberGenerator.cpp b/source/gameengine/GameLogic/SCA_RandomNumberGenerator.cpp
index 67af6237a8d..c3a8ba0e467 100644
--- a/source/gameengine/GameLogic/SCA_RandomNumberGenerator.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomNumberGenerator.cpp
@@ -6,7 +6,6 @@
  * convert to different types/distributions elsewhere. This just 
  * delivers a clean, random bitvector.
  *
- * $Id$
  */
 
 /* A C-program for MT19937: Real number version                */
diff --git a/source/gameengine/GameLogic/SCA_RandomNumberGenerator.h b/source/gameengine/GameLogic/SCA_RandomNumberGenerator.h
index 0cfd8302ca2..87461b1a783 100644
--- a/source/gameengine/GameLogic/SCA_RandomNumberGenerator.h
+++ b/source/gameengine/GameLogic/SCA_RandomNumberGenerator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_RandomSensor.cpp b/source/gameengine/GameLogic/SCA_RandomSensor.cpp
index c23722d2d3c..3b37507dcf3 100644
--- a/source/gameengine/GameLogic/SCA_RandomSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Generate random pulses
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_RandomSensor.h b/source/gameengine/GameLogic/SCA_RandomSensor.h
index d559e17810b..f0ae2fd2bde 100644
--- a/source/gameengine/GameLogic/SCA_RandomSensor.h
+++ b/source/gameengine/GameLogic/SCA_RandomSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_TimeEventManager.cpp b/source/gameengine/GameLogic/SCA_TimeEventManager.cpp
index 55e9ca917f8..e28f00abba2 100644
--- a/source/gameengine/GameLogic/SCA_TimeEventManager.cpp
+++ b/source/gameengine/GameLogic/SCA_TimeEventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_TimeEventManager.h b/source/gameengine/GameLogic/SCA_TimeEventManager.h
index 43eacfe16fa..cac52fb2de5 100644
--- a/source/gameengine/GameLogic/SCA_TimeEventManager.h
+++ b/source/gameengine/GameLogic/SCA_TimeEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_XNORController.cpp b/source/gameengine/GameLogic/SCA_XNORController.cpp
index 01765796fa5..2cfc32a6d40 100644
--- a/source/gameengine/GameLogic/SCA_XNORController.cpp
+++ b/source/gameengine/GameLogic/SCA_XNORController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Xnor' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_XNORController.h b/source/gameengine/GameLogic/SCA_XNORController.h
index 5696585a0fc..de0af2ba9d5 100644
--- a/source/gameengine/GameLogic/SCA_XNORController.h
+++ b/source/gameengine/GameLogic/SCA_XNORController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GameLogic/SCA_XORController.cpp b/source/gameengine/GameLogic/SCA_XORController.cpp
index 4a03062b6ad..eaa1825e5b6 100644
--- a/source/gameengine/GameLogic/SCA_XORController.cpp
+++ b/source/gameengine/GameLogic/SCA_XORController.cpp
@@ -1,7 +1,6 @@
 /*
  * 'Xor' together all inputs
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GameLogic/SCA_XORController.h b/source/gameengine/GameLogic/SCA_XORController.h
index 84f7120546f..96098082165 100644
--- a/source/gameengine/GameLogic/SCA_XORController.h
+++ b/source/gameengine/GameLogic/SCA_XORController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/CMakeLists.txt b/source/gameengine/GamePlayer/CMakeLists.txt
index ab89b18a09b..cdf3f826ea9 100644
--- a/source/gameengine/GamePlayer/CMakeLists.txt
+++ b/source/gameengine/GamePlayer/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/CMakeLists.txt b/source/gameengine/GamePlayer/common/CMakeLists.txt
index 8c5897fa48e..8884ff82363 100644
--- a/source/gameengine/GamePlayer/common/CMakeLists.txt
+++ b/source/gameengine/GamePlayer/common/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_Canvas.cpp b/source/gameengine/GamePlayer/common/GPC_Canvas.cpp
index 7ea5da9433c..cc7630b7afd 100644
--- a/source/gameengine/GamePlayer/common/GPC_Canvas.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_Canvas.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_Canvas.h b/source/gameengine/GamePlayer/common/GPC_Canvas.h
index 87693696c2a..6ac1323783b 100644
--- a/source/gameengine/GamePlayer/common/GPC_Canvas.h
+++ b/source/gameengine/GamePlayer/common/GPC_Canvas.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_Engine.cpp b/source/gameengine/GamePlayer/common/GPC_Engine.cpp
index fc007d8d295..d846e9ae83c 100644
--- a/source/gameengine/GamePlayer/common/GPC_Engine.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_Engine.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_Engine.h b/source/gameengine/GamePlayer/common/GPC_Engine.h
index cfa280c5385..5df8834dbae 100644
--- a/source/gameengine/GamePlayer/common/GPC_Engine.h
+++ b/source/gameengine/GamePlayer/common/GPC_Engine.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.cpp b/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.cpp
index 957ab2b70d1..fc436abf6e0 100644
--- a/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.h b/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.h
index a35a55ddf03..5b267c92908 100644
--- a/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.h
+++ b/source/gameengine/GamePlayer/common/GPC_KeyboardDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_MouseDevice.cpp b/source/gameengine/GamePlayer/common/GPC_MouseDevice.cpp
index 53b061acf69..6146be1d333 100644
--- a/source/gameengine/GamePlayer/common/GPC_MouseDevice.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_MouseDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_MouseDevice.h b/source/gameengine/GamePlayer/common/GPC_MouseDevice.h
index d35faa30d92..a4f0032df1d 100644
--- a/source/gameengine/GamePlayer/common/GPC_MouseDevice.h
+++ b/source/gameengine/GamePlayer/common/GPC_MouseDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawImage.cpp b/source/gameengine/GamePlayer/common/GPC_RawImage.cpp
index 126223f072b..5bd3a1957e6 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawImage.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RawImage.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawImage.h b/source/gameengine/GamePlayer/common/GPC_RawImage.h
index 2db9c093e36..6fa5a9f607b 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawImage.h
+++ b/source/gameengine/GamePlayer/common/GPC_RawImage.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.cpp b/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.cpp
index 160b3ad3da3..16f984cbe3c 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.h b/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.h
index 0b07ab85f65..9b27ba3f009 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.h
+++ b/source/gameengine/GamePlayer/common/GPC_RawLoadDotBlendArray.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.cpp b/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.cpp
index edfbd71da9c..52a033ce538 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.h b/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.h
index a1eb0a4861c..43bd6d22190 100644
--- a/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.h
+++ b/source/gameengine/GamePlayer/common/GPC_RawLogoArrays.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
index be84c601a04..0fa9e05d442 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.h b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
index ee490dacddb..e3c69029700 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.h
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_System.cpp b/source/gameengine/GamePlayer/common/GPC_System.cpp
index 514bd2fa4dc..2c99c99114e 100644
--- a/source/gameengine/GamePlayer/common/GPC_System.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_System.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/GPC_System.h b/source/gameengine/GamePlayer/common/GPC_System.h
index 51847827f10..9f7a56aa783 100644
--- a/source/gameengine/GamePlayer/common/GPC_System.h
+++ b/source/gameengine/GamePlayer/common/GPC_System.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/common/bmfont.cpp b/source/gameengine/GamePlayer/common/bmfont.cpp
index ecb2c4f3bd1..b03d7f40bdd 100644
--- a/source/gameengine/GamePlayer/common/bmfont.cpp
+++ b/source/gameengine/GamePlayer/common/bmfont.cpp
@@ -3,7 +3,6 @@
  *
  * 04-10-2000 frank
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/GamePlayer/ghost/CMakeLists.txt b/source/gameengine/GamePlayer/ghost/CMakeLists.txt
index 479cf3fd7cc..0e9422c07aa 100644
--- a/source/gameengine/GamePlayer/ghost/CMakeLists.txt
+++ b/source/gameengine/GamePlayer/ghost/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_Application.cpp b/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
index 7b47d74d424..7490e187824 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_Application.h b/source/gameengine/GamePlayer/ghost/GPG_Application.h
index df87aea1195..a8a976f9dd2 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_Application.h
+++ b/source/gameengine/GamePlayer/ghost/GPG_Application.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_Canvas.cpp b/source/gameengine/GamePlayer/ghost/GPG_Canvas.cpp
index 9bd41163c21..4b5d2bbf96a 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_Canvas.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_Canvas.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_Canvas.h b/source/gameengine/GamePlayer/ghost/GPG_Canvas.h
index e03f7d6740e..c1ebb09251c 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_Canvas.h
+++ b/source/gameengine/GamePlayer/ghost/GPG_Canvas.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.cpp b/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.cpp
index 97e166ce6ab..1d67ce080cc 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.h b/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.h
index 5471db42f3f..2c7ba86e438 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.h
+++ b/source/gameengine/GamePlayer/ghost/GPG_KeyboardDevice.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_System.cpp b/source/gameengine/GamePlayer/ghost/GPG_System.cpp
index 1faa3f398c4..d5e45029679 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_System.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_System.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_System.h b/source/gameengine/GamePlayer/ghost/GPG_System.h
index 49a91b60415..d7f3093d8b0 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_System.h
+++ b/source/gameengine/GamePlayer/ghost/GPG_System.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp b/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
index f5439ba4f64..b1781f1703e 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
@@ -1,6 +1,4 @@
 /*
-* $Id$
-*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,8 +23,8 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-* Start up of the Blender Player on GHOST.
-*/
+ * Start up of the Blender Player on GHOST.
+ */
 
 /** \file gameengine/GamePlayer/ghost/GPG_ghost.cpp
  *  \ingroup player
@@ -178,8 +176,8 @@ static BOOL scr_saver_init(int argc, char **argv)
 void usage(const char* program, bool isBlenderPlayer)
 {
 	const char * consoleoption;
-	const char * filename = "";
-	const char * pathname = "";
+	const char * example_filename = "";
+	const char * example_pathname = "";
 
 #ifdef _WIN32
 	consoleoption = "-c ";
@@ -188,16 +186,16 @@ void usage(const char* program, bool isBlenderPlayer)
 #endif
 
 	if (isBlenderPlayer) {
-		filename = "filename.blend";
+		example_filename = "filename.blend";
 #ifdef _WIN32
-		pathname = "c:\\";
+		example_pathname = "c:\\";
 #else
-		pathname = "//home//user//";
+		example_pathname = "/home/user/";
 #endif
 	}
 	
 	printf("usage:   %s [-w [w h l t]] [-f [fw fh fb ff]] %s[-g gamengineoptions] "
-		"[-s stereomode] [-m aasamples] %s\n", program, consoleoption, filename);
+		"[-s stereomode] [-m aasamples] %s\n", program, consoleoption, example_filename);
 	printf("  -h: Prints this command summary\n\n");
 	printf("  -w: display in a window\n");
 	printf("       --Optional parameters--\n"); 
@@ -252,9 +250,9 @@ void usage(const char* program, bool isBlenderPlayer)
 	printf("\n");
 	printf("  - : all arguments after this are ignored, allowing python to access them from sys.argv\n");
 	printf("\n");
-	printf("example: %s -w 320 200 10 10 -g noaudio%s%s\n", program, pathname, filename);
-	printf("example: %s -g show_framerate = 0 %s%s\n", program, pathname, filename);
-	printf("example: %s -i 232421 -m 16 %s%s\n\n", program, pathname, filename);
+	printf("example: %s -w 320 200 10 10 -g noaudio%s%s\n", program, example_pathname, example_filename);
+	printf("example: %s -g show_framerate = 0 %s%s\n", program, example_pathname, example_filename);
+	printf("example: %s -i 232421 -m 16 %s%s\n\n", program, example_pathname, example_filename);
 }
 
 static void get_filename(int argc, char **argv, char *filename)
@@ -367,6 +365,7 @@ int main(int argc, char** argv)
 	GHOST_TEmbedderWindowID parentWindow = 0;
 	bool isBlenderPlayer = false;
 	int validArguments=0;
+	bool samplesParFound = false;
 	GHOST_TUns16 aasamples = 0;
 	
 #ifdef __linux__
@@ -408,6 +407,8 @@ int main(int argc, char** argv)
 	
 	initglobals();
 
+	// Blender's VBOs cause odd problems with modifiers (we have our own vbo code)
+	U.gameflags |= USER_DISABLE_VBO;
 	// We load our own G.main, so free the one that initglobals() gives us
 	free_main(G.main);
 	G.main = NULL;
@@ -583,8 +584,14 @@ int main(int argc, char** argv)
 				break;
 			case 'm':
 				i++;
+				samplesParFound = true;
 				if ((i+1) <= validArguments )
-				aasamples = atoi(argv[i++]);
+					aasamples = atoi(argv[i++]);
+				else
+				{
+					error = true;
+					printf("error: No argument supplied for -m");
+				}
 				break;
 			case 'c':
 				i++;
@@ -820,7 +827,7 @@ int main(int argc, char** argv)
 						if ((!fullScreenParFound) && (!windowParFound))
 						{
 							// Only use file settings when command line did not override
-							if (scene->gm.fullscreen) {
+							if ((scene->gm.playerflag & GAME_PLAYER_FULLSCREEN)) {
 								//printf("fullscreen option found in Blender file\n");
 								fullScreen = true;
 								fullScreenWidth= scene->gm.xplay;
@@ -849,6 +856,9 @@ int main(int argc, char** argv)
 						else
 							scene->gm.stereoflag = STEREO_ENABLED;
 
+						if (!samplesParFound)
+							aasamples = scene->gm.aasamples;
+
 						if (stereoFlag == STEREO_DOME){
 							stereomode = RAS_IRasterizer::RAS_STEREO_DOME;
 							scene->gm.stereoflag = STEREO_DOME;
@@ -894,7 +904,7 @@ int main(int argc, char** argv)
 #endif
 								{
 									app.startFullScreen(fullScreenWidth, fullScreenHeight, fullScreenBpp, fullScreenFrequency,
-										stereoWindow, stereomode, aasamples);
+										stereoWindow, stereomode, aasamples, (scene->gm.playerflag & GAME_PLAYER_DESKTOP_RESOLUTION));
 								}
 							}
 							else
diff --git a/source/gameengine/Ketsji/BL_Action.cpp b/source/gameengine/Ketsji/BL_Action.cpp
index 9e8f53ad219..931e5412338 100644
--- a/source/gameengine/Ketsji/BL_Action.cpp
+++ b/source/gameengine/Ketsji/BL_Action.cpp
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -281,7 +279,7 @@ void BL_Action::SetLocalTime(float curtime)
 
 void BL_Action::ResetStartTime(float curtime)
 {
-	float dt = m_localtime - m_startframe;
+	float dt = (m_localtime > m_startframe) ? m_localtime - m_startframe : m_startframe - m_localtime;
 
 	m_starttime = curtime - dt / (KX_KetsjiEngine::GetAnimFrameRate()*m_speed);
 	SetLocalTime(curtime);
diff --git a/source/gameengine/Ketsji/BL_Action.h b/source/gameengine/Ketsji/BL_Action.h
index 92fbe95fd54..3efea0576fd 100644
--- a/source/gameengine/Ketsji/BL_Action.h
+++ b/source/gameengine/Ketsji/BL_Action.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/BL_ActionManager.cpp b/source/gameengine/Ketsji/BL_ActionManager.cpp
index 4e4d3bc539e..f3620a7b4ba 100644
--- a/source/gameengine/Ketsji/BL_ActionManager.cpp
+++ b/source/gameengine/Ketsji/BL_ActionManager.cpp
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/BL_ActionManager.h b/source/gameengine/Ketsji/BL_ActionManager.h
index a3c8379981e..2ba84863f95 100644
--- a/source/gameengine/Ketsji/BL_ActionManager.h
+++ b/source/gameengine/Ketsji/BL_ActionManager.h
@@ -1,6 +1,4 @@
-/**
- * $Id$
- *
+/*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/BL_BlenderShader.h b/source/gameengine/Ketsji/BL_BlenderShader.h
index f187d93d648..1331899a6b2 100644
--- a/source/gameengine/Ketsji/BL_BlenderShader.h
+++ b/source/gameengine/Ketsji/BL_BlenderShader.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/CMakeLists.txt b/source/gameengine/Ketsji/CMakeLists.txt
index 329ac890cd2..8ed2d2f46db 100644
--- a/source/gameengine/Ketsji/CMakeLists.txt
+++ b/source/gameengine/Ketsji/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/CMakeLists.txt b/source/gameengine/Ketsji/KXNetwork/CMakeLists.txt
index 1ebf1153150..d5e2b375c72 100644
--- a/source/gameengine/Ketsji/KXNetwork/CMakeLists.txt
+++ b/source/gameengine/Ketsji/KXNetwork/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.cpp
index 72f1cee8855..014641a2d10 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.h
index 405e2d52989..d14d3600b48 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
index 9fd09506c0d..5d5f3ff3f87 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
index 3cea20c56d2..a7db2ed1660 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
index 7e496136ce2..f548eaee38a 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
index 721e80195c3..7ec8f26f8ce 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.cpp
index 0679e34eaad..b8032f8e037 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.h
index 74b6dfede97..36e0e6c39ec 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.cpp
index 6140ec337e3..bc6da2e4143 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.h
index b7264bbf4b6..00aa53feb27 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkObjectSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ArmatureSensor.cpp b/source/gameengine/Ketsji/KX_ArmatureSensor.cpp
index f39793e0493..f72d9c1dee6 100644
--- a/source/gameengine/Ketsji/KX_ArmatureSensor.cpp
+++ b/source/gameengine/Ketsji/KX_ArmatureSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Armature sensor
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_ArmatureSensor.h b/source/gameengine/Ketsji/KX_ArmatureSensor.h
index 42e042e1401..1b0168266a3 100644
--- a/source/gameengine/Ketsji/KX_ArmatureSensor.h
+++ b/source/gameengine/Ketsji/KX_ArmatureSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Camera.cpp b/source/gameengine/Ketsji/KX_Camera.cpp
index a488d646792..3b777031831 100644
--- a/source/gameengine/Ketsji/KX_Camera.cpp
+++ b/source/gameengine/Ketsji/KX_Camera.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Camera.h b/source/gameengine/Ketsji/KX_Camera.h
index 61a0e39e546..4c8cf21a7bf 100644
--- a/source/gameengine/Ketsji/KX_Camera.h
+++ b/source/gameengine/Ketsji/KX_Camera.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_CameraActuator.cpp b/source/gameengine/Ketsji/KX_CameraActuator.cpp
index 7df08b83d49..47c10439f02 100644
--- a/source/gameengine/Ketsji/KX_CameraActuator.cpp
+++ b/source/gameengine/Ketsji/KX_CameraActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * KX_CameraActuator.cpp
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_CameraActuator.h b/source/gameengine/Ketsji/KX_CameraActuator.h
index f844f6418b8..5c2535f9c3d 100644
--- a/source/gameengine/Ketsji/KX_CameraActuator.h
+++ b/source/gameengine/Ketsji/KX_CameraActuator.h
@@ -1,7 +1,6 @@
 /*
  * KX_CameraActuator.h
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_CameraIpoSGController.cpp b/source/gameengine/Ketsji/KX_CameraIpoSGController.cpp
index bd3ab1d0580..a1c726209e1 100644
--- a/source/gameengine/Ketsji/KX_CameraIpoSGController.cpp
+++ b/source/gameengine/Ketsji/KX_CameraIpoSGController.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_CameraIpoSGController.h b/source/gameengine/Ketsji/KX_CameraIpoSGController.h
index 967decfa7b0..fb91455fed4 100644
--- a/source/gameengine/Ketsji/KX_CameraIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_CameraIpoSGController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ClientObjectInfo.h b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
index ae84cf2e300..78f2f5446d4 100644
--- a/source/gameengine/Ketsji/KX_ClientObjectInfo.h
+++ b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
index 708424cae3a..ea3a64d0d73 100644
--- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Apply a constraint to a position or rotation value
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.h b/source/gameengine/Ketsji/KX_ConstraintActuator.h
index d2eea1f7414..ebaeed9aafe 100644
--- a/source/gameengine/Ketsji/KX_ConstraintActuator.h
+++ b/source/gameengine/Ketsji/KX_ConstraintActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index 95ec6e94f18..df6b08974dd 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.h b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
index 1177586b95f..8f559881a2e 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.h
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index fa8c8d253e7..9471d58bada 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 7bd8c445849..f21a7f815e5 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Dome.cpp b/source/gameengine/Ketsji/KX_Dome.cpp
index 48ad99ae37b..44cfd4bddbc 100644
--- a/source/gameengine/Ketsji/KX_Dome.cpp
+++ b/source/gameengine/Ketsji/KX_Dome.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/Ketsji/KX_Dome.cpp
- *  \ingroup ketsji
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 
 This program is free software; you can redistribute it and/or modify it under
@@ -25,6 +22,10 @@ Developed as part of a Research and Development project for SAT - La Société d
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/Ketsji/KX_Dome.cpp
+ *  \ingroup ketsji
+ */
+
 #include "KX_Dome.h"
 
 #ifdef WITH_PYTHON
diff --git a/source/gameengine/Ketsji/KX_Dome.h b/source/gameengine/Ketsji/KX_Dome.h
index 009fb0b92ea..0436e910469 100644
--- a/source/gameengine/Ketsji/KX_Dome.h
+++ b/source/gameengine/Ketsji/KX_Dome.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 
 This program is free software; you can redistribute it and/or modify it under
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.cpp b/source/gameengine/Ketsji/KX_EmptyObject.cpp
index 27ed6c6a6cc..670329a4350 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.cpp
+++ b/source/gameengine/Ketsji/KX_EmptyObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.h b/source/gameengine/Ketsji/KX_EmptyObject.h
index e22e1aa7926..845a37fa04a 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.h
+++ b/source/gameengine/Ketsji/KX_EmptyObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_FontObject.cpp b/source/gameengine/Ketsji/KX_FontObject.cpp
index dbb98588127..7e40af2f3c4 100644
--- a/source/gameengine/Ketsji/KX_FontObject.cpp
+++ b/source/gameengine/Ketsji/KX_FontObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_FontObject.h b/source/gameengine/Ketsji/KX_FontObject.h
index c29ee4bcdcf..15d455b7313 100644
--- a/source/gameengine/Ketsji/KX_FontObject.h
+++ b/source/gameengine/Ketsji/KX_FontObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_GameActuator.cpp b/source/gameengine/Ketsji/KX_GameActuator.cpp
index e0c269d6e26..c6087ac676d 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.cpp
+++ b/source/gameengine/Ketsji/KX_GameActuator.cpp
@@ -1,8 +1,7 @@
 /*
-* global game stuff
-*
-* $Id$
-*
+ * global game stuff
+ *
+ *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -27,7 +26,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file gameengine/Ketsji/KX_GameActuator.cpp
  *  \ingroup ketsji
diff --git a/source/gameengine/Ketsji/KX_GameActuator.h b/source/gameengine/Ketsji/KX_GameActuator.h
index eee38b02406..1c05d152d39 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.h
+++ b/source/gameengine/Ketsji/KX_GameActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index e5e9c3330e5..d3ed9991c31 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 655bc9ff080..69bc394cbfc 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IInterpolator.h b/source/gameengine/Ketsji/KX_IInterpolator.h
index 8eb62f84883..ed843962bd0 100644
--- a/source/gameengine/Ketsji/KX_IInterpolator.h
+++ b/source/gameengine/Ketsji/KX_IInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IPOTransform.h b/source/gameengine/Ketsji/KX_IPOTransform.h
index 98eefa83e0d..c028b4c49d2 100644
--- a/source/gameengine/Ketsji/KX_IPOTransform.h
+++ b/source/gameengine/Ketsji/KX_IPOTransform.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index 3c73bb6a619..70bb2dbb5a2 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.h b/source/gameengine/Ketsji/KX_IPO_SGController.h
index 3d52eaea679..f7e57014839 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.h
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
index 4595fa22310..62e3c346dd8 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
@@ -1,6 +1,5 @@
 /*
  * @file KX_IPhysicsController.cpp
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index 8bc28aa82b8..2d08ef3a0da 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_IScalarInterpolator.h b/source/gameengine/Ketsji/KX_IScalarInterpolator.h
index 46781557a01..0ac765abb4f 100644
--- a/source/gameengine/Ketsji/KX_IScalarInterpolator.h
+++ b/source/gameengine/Ketsji/KX_IScalarInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ISceneConverter.h b/source/gameengine/Ketsji/KX_ISceneConverter.h
index 7d85e69ecdd..5afdaa971bc 100644
--- a/source/gameengine/Ketsji/KX_ISceneConverter.h
+++ b/source/gameengine/Ketsji/KX_ISceneConverter.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ISystem.h b/source/gameengine/Ketsji/KX_ISystem.h
index da79bec51d5..d0a51490e28 100644
--- a/source/gameengine/Ketsji/KX_ISystem.h
+++ b/source/gameengine/Ketsji/KX_ISystem.h
@@ -1,6 +1,4 @@
 /*
-* $Id$
-*
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -25,7 +23,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file KX_ISystem.h
  *  \ingroup ketsji
diff --git a/source/gameengine/Ketsji/KX_IpoActuator.cpp b/source/gameengine/Ketsji/KX_IpoActuator.cpp
index cc5a8ecc727..563ceba1d64 100644
--- a/source/gameengine/Ketsji/KX_IpoActuator.cpp
+++ b/source/gameengine/Ketsji/KX_IpoActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Do Ipo stuff
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_IpoActuator.h b/source/gameengine/Ketsji/KX_IpoActuator.h
index 56a60f48049..e9820fa0eeb 100644
--- a/source/gameengine/Ketsji/KX_IpoActuator.h
+++ b/source/gameengine/Ketsji/KX_IpoActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index afc3bf2b53d..5de6adc5af4 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.h b/source/gameengine/Ketsji/KX_KetsjiEngine.h
index f2f978a0afa..40f157ef0a4 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.h
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Light.cpp b/source/gameengine/Ketsji/KX_Light.cpp
index 2f2c45cd5cc..b174b4f701e 100644
--- a/source/gameengine/Ketsji/KX_Light.cpp
+++ b/source/gameengine/Ketsji/KX_Light.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Light.h b/source/gameengine/Ketsji/KX_Light.h
index 08e4e9da2e5..cd472311bcf 100644
--- a/source/gameengine/Ketsji/KX_Light.h
+++ b/source/gameengine/Ketsji/KX_Light.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_LightIpoSGController.cpp b/source/gameengine/Ketsji/KX_LightIpoSGController.cpp
index 8ffaf3e0e63..1e65c6a6fc5 100644
--- a/source/gameengine/Ketsji/KX_LightIpoSGController.cpp
+++ b/source/gameengine/Ketsji/KX_LightIpoSGController.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_LightIpoSGController.h b/source/gameengine/Ketsji/KX_LightIpoSGController.h
index 8271343907c..61618c20183 100644
--- a/source/gameengine/Ketsji/KX_LightIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_LightIpoSGController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.cpp b/source/gameengine/Ketsji/KX_MeshProxy.cpp
index 9ad09f9793b..754ad511669 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.cpp
+++ b/source/gameengine/Ketsji/KX_MeshProxy.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.h b/source/gameengine/Ketsji/KX_MeshProxy.h
index 7074c120988..d5292b5108d 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.h
+++ b/source/gameengine/Ketsji/KX_MeshProxy.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp
index db98097a3ce..3ca01e7af74 100644
--- a/source/gameengine/Ketsji/KX_MotionState.cpp
+++ b/source/gameengine/Ketsji/KX_MotionState.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MotionState.h b/source/gameengine/Ketsji/KX_MotionState.h
index ec6469e4672..b18a745ad92 100644
--- a/source/gameengine/Ketsji/KX_MotionState.h
+++ b/source/gameengine/Ketsji/KX_MotionState.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index e1978263a12..ed38694d2ca 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.h b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
index 07787665b1d..5fb576eec28 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.h
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.cpp b/source/gameengine/Ketsji/KX_NavMeshObject.cpp
index 0ee1ca20234..6765f07b344 100644
--- a/source/gameengine/Ketsji/KX_NavMeshObject.cpp
+++ b/source/gameengine/Ketsji/KX_NavMeshObject.cpp
@@ -1,30 +1,29 @@
-/**
-* $Id$ 
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): none yet.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 
 #include "MEM_guardedalloc.h"
 
diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.h b/source/gameengine/Ketsji/KX_NavMeshObject.h
index 78e9488ad1c..287b2b24fa9 100644
--- a/source/gameengine/Ketsji/KX_NavMeshObject.h
+++ b/source/gameengine/Ketsji/KX_NavMeshObject.h
@@ -1,31 +1,29 @@
-/**
-* $Id$ 
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): none yet.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 #ifndef __KX_NAVMESHOBJECT
 #define __KX_NAVMESHOBJECT
 #include "DetourStatNavMesh.h"
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index eca4d45e9c6..232a872bf10 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Sense if other objects are near
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index d3de44429ff..1caea59867a 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ObColorIpoSGController.cpp b/source/gameengine/Ketsji/KX_ObColorIpoSGController.cpp
index 0fc410f9d6f..f7e3194ee78 100644
--- a/source/gameengine/Ketsji/KX_ObColorIpoSGController.cpp
+++ b/source/gameengine/Ketsji/KX_ObColorIpoSGController.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ObColorIpoSGController.h b/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
index 67bf561bd22..230ef93905b 100644
--- a/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
index cb59ef42699..b7420b3c3f0 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Do translation/rotation actions
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h
index 3ba257b4f05..fc6fcb66e28 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
index c2b53fb71ba..bfbdb4a1f6a 100644
--- a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
@@ -1,7 +1,6 @@
 /**
 * Simulation for obstacle avoidance behavior
 *
-* $Id$
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
index d926e8deb71..d6af8f7d59a 100644
--- a/source/gameengine/Ketsji/KX_ObstacleSimulation.h
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
@@ -1,38 +1,35 @@
-/**
-* Simulation for obstacle avoidance behavior 
-* (based on Cane Project - http://code.google.com/p/cane  by Mikko Mononen (c) 2009)
-*
-*
-* $Id$
-*
-* ***** BEGIN GPL LICENSE BLOCK *****
-*
-* This program is free software; you can redistribute it and/or
-* modify it under the terms of the GNU General Public License
-* as published by the Free Software Foundation; either version 2
-* of the License, or (at your option) any later version. The Blender
-* Foundation also sells licenses for use in proprietary software under
-* the Blender License.  See http://www.blender.org/BL/ for information
-* about this.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program; if not, write to the Free Software Foundation,
-* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-*
-* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): none yet.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
+/*
+ * Simulation for obstacle avoidance behavior 
+ * (based on Cane Project - http://code.google.com/p/cane  by Mikko Mononen (c) 2009)
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
 
 #ifndef __KX_OBSTACLESIMULATION
 #define __KX_OBSTACLESIMULATION
diff --git a/source/gameengine/Ketsji/KX_OrientationInterpolator.cpp b/source/gameengine/Ketsji/KX_OrientationInterpolator.cpp
index bd743159950..4e0e04beca4 100644
--- a/source/gameengine/Ketsji/KX_OrientationInterpolator.cpp
+++ b/source/gameengine/Ketsji/KX_OrientationInterpolator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_OrientationInterpolator.h b/source/gameengine/Ketsji/KX_OrientationInterpolator.h
index 8bbe888f74f..c9aacbafae2 100644
--- a/source/gameengine/Ketsji/KX_OrientationInterpolator.h
+++ b/source/gameengine/Ketsji/KX_OrientationInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ParentActuator.cpp b/source/gameengine/Ketsji/KX_ParentActuator.cpp
index a73f4c38627..cca50be7eb0 100644
--- a/source/gameengine/Ketsji/KX_ParentActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ParentActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * Set or remove an objects parent
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_ParentActuator.h b/source/gameengine/Ketsji/KX_ParentActuator.h
index 6984465623d..8531675723a 100644
--- a/source/gameengine/Ketsji/KX_ParentActuator.h
+++ b/source/gameengine/Ketsji/KX_ParentActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h b/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
index 6a9e40e187a..11474c678af 100644
--- a/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
+++ b/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
index ad1ea7c1bda..225a1628b3b 100644
--- a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
index 739d6b38ea1..0e4c2e71f3e 100644
--- a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
+++ b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PhysicsPropertiesobsolete.h b/source/gameengine/Ketsji/KX_PhysicsPropertiesobsolete.h
index 4cbd1f8b3b2..bb2fb08644c 100644
--- a/source/gameengine/Ketsji/KX_PhysicsPropertiesobsolete.h
+++ b/source/gameengine/Ketsji/KX_PhysicsPropertiesobsolete.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PolyProxy.cpp b/source/gameengine/Ketsji/KX_PolyProxy.cpp
index 8c3b2a993e2..82a93e76cf3 100644
--- a/source/gameengine/Ketsji/KX_PolyProxy.cpp
+++ b/source/gameengine/Ketsji/KX_PolyProxy.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PolyProxy.h b/source/gameengine/Ketsji/KX_PolyProxy.h
index c99ac20673c..d8046b3fec6 100644
--- a/source/gameengine/Ketsji/KX_PolyProxy.h
+++ b/source/gameengine/Ketsji/KX_PolyProxy.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
index 098c136bfa3..3147d6ba4c9 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.h b/source/gameengine/Ketsji/KX_PolygonMaterial.h
index b09ddd39141..78876c60409 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.h
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PositionInterpolator.cpp b/source/gameengine/Ketsji/KX_PositionInterpolator.cpp
index 8cd6a6dc2c1..be70ee8ced5 100644
--- a/source/gameengine/Ketsji/KX_PositionInterpolator.cpp
+++ b/source/gameengine/Ketsji/KX_PositionInterpolator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PositionInterpolator.h b/source/gameengine/Ketsji/KX_PositionInterpolator.h
index e053770e57e..88124cfd085 100644
--- a/source/gameengine/Ketsji/KX_PositionInterpolator.h
+++ b/source/gameengine/Ketsji/KX_PositionInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index fde127b7ef5..deb69fe494b 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.h b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
index 9fbdf037caa..a5846d91a5c 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.h
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PyMath.cpp b/source/gameengine/Ketsji/KX_PyMath.cpp
index 857a61e56a0..a221020c1ef 100644
--- a/source/gameengine/Ketsji/KX_PyMath.cpp
+++ b/source/gameengine/Ketsji/KX_PyMath.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PyMath.h b/source/gameengine/Ketsji/KX_PyMath.h
index 4864482c33b..b9ff3759452 100644
--- a/source/gameengine/Ketsji/KX_PyMath.h
+++ b/source/gameengine/Ketsji/KX_PyMath.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index c7da650f988..2f7b0c06dcd 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonInit.h b/source/gameengine/Ketsji/KX_PythonInit.h
index d76e8f913df..dd2a75d793e 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.h
+++ b/source/gameengine/Ketsji/KX_PythonInit.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonInitTypes.cpp b/source/gameengine/Ketsji/KX_PythonInitTypes.cpp
index 49a08135c38..e367ef83eb8 100644
--- a/source/gameengine/Ketsji/KX_PythonInitTypes.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInitTypes.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonInitTypes.h b/source/gameengine/Ketsji/KX_PythonInitTypes.h
index b113c080f4a..a06fe46a0ea 100644
--- a/source/gameengine/Ketsji/KX_PythonInitTypes.h
+++ b/source/gameengine/Ketsji/KX_PythonInitTypes.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonSeq.cpp b/source/gameengine/Ketsji/KX_PythonSeq.cpp
index 729376f0a24..7d7dc39ba32 100644
--- a/source/gameengine/Ketsji/KX_PythonSeq.cpp
+++ b/source/gameengine/Ketsji/KX_PythonSeq.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_PythonSeq.h b/source/gameengine/Ketsji/KX_PythonSeq.h
index 7146e775a84..6e9cf9a36aa 100644
--- a/source/gameengine/Ketsji/KX_PythonSeq.h
+++ b/source/gameengine/Ketsji/KX_PythonSeq.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index d002d8a8935..678794f2beb 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index 6caff2758e7..422313fcfef 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RayCast.cpp b/source/gameengine/Ketsji/KX_RayCast.cpp
index e0fc212f1b0..6e8a2cb7671 100644
--- a/source/gameengine/Ketsji/KX_RayCast.cpp
+++ b/source/gameengine/Ketsji/KX_RayCast.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RayCast.h b/source/gameengine/Ketsji/KX_RayCast.h
index 963467c5958..814443f5c64 100644
--- a/source/gameengine/Ketsji/KX_RayCast.h
+++ b/source/gameengine/Ketsji/KX_RayCast.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RayEventManager.cpp b/source/gameengine/Ketsji/KX_RayEventManager.cpp
index 3956fa04dff..661c7eb6f64 100644
--- a/source/gameengine/Ketsji/KX_RayEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_RayEventManager.cpp
@@ -1,7 +1,6 @@
 /*
  * Manager for ray events
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_RayEventManager.h b/source/gameengine/Ketsji/KX_RayEventManager.h
index 92ce836b950..0b1e525eccf 100644
--- a/source/gameengine/Ketsji/KX_RayEventManager.h
+++ b/source/gameengine/Ketsji/KX_RayEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index aecf2ab3598..6fa14c94f99 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Cast a ray and feel for objects
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_RaySensor.h b/source/gameengine/Ketsji/KX_RaySensor.h
index ef8340e9f80..d797666d6ab 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.h
+++ b/source/gameengine/Ketsji/KX_RaySensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
index 62a51fb4efc..cd6bb5a1cbc 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
@@ -4,7 +4,6 @@
 //
 // Add an object when this actuator is triggered
 //
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
index a8304667b66..4bb84663e9e 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
index 40c9c182d99..ff44fad1f3f 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
@@ -4,7 +4,6 @@
 //
 // Adjust dynamics settins for this object
 //
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
index ecae0eba6cd..eaad67ad0ea 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
index c5f3fefd4d3..e6209d2d47b 100644
--- a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
index c8e1af86466..a6bbf258398 100644
--- a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
index 1c6e5e20250..00a6e9e63d5 100644
--- a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
@@ -4,7 +4,6 @@
 //
 // Replace the mesh for this actuator's parent
 //
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
index 7838cb63b17..1e0e2155e62 100644
--- a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
index 3fec33b119d..2f417941ec1 100644
--- a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
+++ b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h
index 6e6c197517f..0eff0ea62ba 100644
--- a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h
+++ b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
index f376dd399f2..99477ea70df 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.h b/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
index 3e18ddf2611..94fea9687a5 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ScalarInterpolator.cpp b/source/gameengine/Ketsji/KX_ScalarInterpolator.cpp
index c9ca9d704e1..2b0f112a63f 100644
--- a/source/gameengine/Ketsji/KX_ScalarInterpolator.cpp
+++ b/source/gameengine/Ketsji/KX_ScalarInterpolator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ScalarInterpolator.h b/source/gameengine/Ketsji/KX_ScalarInterpolator.h
index 1abc4f4f06f..9e5a43ecff9 100644
--- a/source/gameengine/Ketsji/KX_ScalarInterpolator.h
+++ b/source/gameengine/Ketsji/KX_ScalarInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ScalingInterpolator.cpp b/source/gameengine/Ketsji/KX_ScalingInterpolator.cpp
index a7b5d1415da..51c2a87d14d 100644
--- a/source/gameengine/Ketsji/KX_ScalingInterpolator.cpp
+++ b/source/gameengine/Ketsji/KX_ScalingInterpolator.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_ScalingInterpolator.h b/source/gameengine/Ketsji/KX_ScalingInterpolator.h
index 72b91c1a421..520706b9721 100644
--- a/source/gameengine/Ketsji/KX_ScalingInterpolator.h
+++ b/source/gameengine/Ketsji/KX_ScalingInterpolator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 7ff4a786387..f1e0fdc8a50 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 5954d5465ba..67508f5741b 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SceneActuator.cpp b/source/gameengine/Ketsji/KX_SceneActuator.cpp
index f572f8eb36d..af6de882c99 100644
--- a/source/gameengine/Ketsji/KX_SceneActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SceneActuator.cpp
@@ -1,8 +1,7 @@
 /*
-* Set scene/camera stuff
-*
-* $Id$
-*
+ * Set scene/camera stuff
+ *
+ *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -27,7 +26,7 @@
  * Contributor(s): none yet.
  *
  * ***** END GPL LICENSE BLOCK *****
-*/
+ */
 
 /** \file gameengine/Ketsji/KX_SceneActuator.cpp
  *  \ingroup ketsji
diff --git a/source/gameengine/Ketsji/KX_SceneActuator.h b/source/gameengine/Ketsji/KX_SceneActuator.h
index 288f4acc280..4dbd489d0c8 100644
--- a/source/gameengine/Ketsji/KX_SceneActuator.h
+++ b/source/gameengine/Ketsji/KX_SceneActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.cpp b/source/gameengine/Ketsji/KX_SoundActuator.cpp
index f24243fcdfc..c47c45df4ac 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SoundActuator.cpp
@@ -1,7 +1,6 @@
 /*
  * KX_SoundActuator.cpp
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.h b/source/gameengine/Ketsji/KX_SoundActuator.h
index b1161e0cad2..174bcc8f990 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.h
+++ b/source/gameengine/Ketsji/KX_SoundActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_StateActuator.cpp b/source/gameengine/Ketsji/KX_StateActuator.cpp
index 7ebfae2ca25..d918f87c4bf 100644
--- a/source/gameengine/Ketsji/KX_StateActuator.cpp
+++ b/source/gameengine/Ketsji/KX_StateActuator.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_StateActuator.h b/source/gameengine/Ketsji/KX_StateActuator.h
index bdaaa0ffbc2..3d1dc64d891 100644
--- a/source/gameengine/Ketsji/KX_StateActuator.h
+++ b/source/gameengine/Ketsji/KX_StateActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
index f998da18f83..91c85c7f595 100644
--- a/source/gameengine/Ketsji/KX_SteeringActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
@@ -1,7 +1,6 @@
 /**
 * Add steering behaviors
 *
-* $Id$
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.h b/source/gameengine/Ketsji/KX_SteeringActuator.h
index d337799976b..38be7bce57b 100644
--- a/source/gameengine/Ketsji/KX_SteeringActuator.h
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.h
@@ -2,7 +2,6 @@
 * Add steering behaviors
 *
 *
-* $Id$
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
diff --git a/source/gameengine/Ketsji/KX_TimeCategoryLogger.cpp b/source/gameengine/Ketsji/KX_TimeCategoryLogger.cpp
index 65cc9c581d8..2b09fe09fc1 100644
--- a/source/gameengine/Ketsji/KX_TimeCategoryLogger.cpp
+++ b/source/gameengine/Ketsji/KX_TimeCategoryLogger.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TimeCategoryLogger.h b/source/gameengine/Ketsji/KX_TimeCategoryLogger.h
index 95358e99cb7..9c9df290e43 100644
--- a/source/gameengine/Ketsji/KX_TimeCategoryLogger.h
+++ b/source/gameengine/Ketsji/KX_TimeCategoryLogger.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TimeLogger.cpp b/source/gameengine/Ketsji/KX_TimeLogger.cpp
index b904e857ad3..e0aea45291c 100644
--- a/source/gameengine/Ketsji/KX_TimeLogger.cpp
+++ b/source/gameengine/Ketsji/KX_TimeLogger.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TimeLogger.h b/source/gameengine/Ketsji/KX_TimeLogger.h
index a43c0bfddc7..0f29f44e726 100644
--- a/source/gameengine/Ketsji/KX_TimeLogger.h
+++ b/source/gameengine/Ketsji/KX_TimeLogger.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index d57c1b73eec..939aa5d20d4 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.h b/source/gameengine/Ketsji/KX_TouchEventManager.h
index c8b86e854ae..b219f334b84 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.h
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 6186254c34c..b30e674e821 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -1,7 +1,6 @@
 /*
  * Senses touch and collision events
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 39011345267..a111bf31cf6 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_TrackToActuator.cpp b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
index f13f152c5d5..a08e57c8d76 100644
--- a/source/gameengine/Ketsji/KX_TrackToActuator.cpp
+++ b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
@@ -4,7 +4,6 @@
 //
 // Replace the mesh for this actuator's parent
 //
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_TrackToActuator.h b/source/gameengine/Ketsji/KX_TrackToActuator.h
index bbf0134a859..9d267bfe89a 100644
--- a/source/gameengine/Ketsji/KX_TrackToActuator.h
+++ b/source/gameengine/Ketsji/KX_TrackToActuator.h
@@ -1,4 +1,3 @@
-// $Id$
 //
 // ***** BEGIN GPL LICENSE BLOCK *****
 //
diff --git a/source/gameengine/Ketsji/KX_VertexProxy.cpp b/source/gameengine/Ketsji/KX_VertexProxy.cpp
index e92351ad110..a07e32850a5 100644
--- a/source/gameengine/Ketsji/KX_VertexProxy.cpp
+++ b/source/gameengine/Ketsji/KX_VertexProxy.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_VertexProxy.h b/source/gameengine/Ketsji/KX_VertexProxy.h
index e34330ebefe..4ae662faa12 100644
--- a/source/gameengine/Ketsji/KX_VertexProxy.h
+++ b/source/gameengine/Ketsji/KX_VertexProxy.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_VisibilityActuator.cpp b/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
index 6dc9961fe2d..6f689e228b9 100644
--- a/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
+++ b/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_VisibilityActuator.h b/source/gameengine/Ketsji/KX_VisibilityActuator.h
index 9b40aec4506..0ffe1de6480 100644
--- a/source/gameengine/Ketsji/KX_VisibilityActuator.h
+++ b/source/gameengine/Ketsji/KX_VisibilityActuator.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_WorldInfo.cpp b/source/gameengine/Ketsji/KX_WorldInfo.cpp
index fd83e44f793..444d6b0771b 100644
--- a/source/gameengine/Ketsji/KX_WorldInfo.cpp
+++ b/source/gameengine/Ketsji/KX_WorldInfo.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_WorldInfo.h b/source/gameengine/Ketsji/KX_WorldInfo.h
index 35e1d50af12..c5ce5480409 100644
--- a/source/gameengine/Ketsji/KX_WorldInfo.h
+++ b/source/gameengine/Ketsji/KX_WorldInfo.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_WorldIpoController.cpp b/source/gameengine/Ketsji/KX_WorldIpoController.cpp
index a6ad7c83b72..7f83a155643 100644
--- a/source/gameengine/Ketsji/KX_WorldIpoController.cpp
+++ b/source/gameengine/Ketsji/KX_WorldIpoController.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Ketsji/KX_WorldIpoController.h b/source/gameengine/Ketsji/KX_WorldIpoController.h
index 7771628b5bc..5c55e4fdc63 100644
--- a/source/gameengine/Ketsji/KX_WorldIpoController.h
+++ b/source/gameengine/Ketsji/KX_WorldIpoController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/CMakeLists.txt b/source/gameengine/Network/CMakeLists.txt
index 4d6d035c63d..e1390e40382 100644
--- a/source/gameengine/Network/CMakeLists.txt
+++ b/source/gameengine/Network/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/LoopBackNetwork/CMakeLists.txt b/source/gameengine/Network/LoopBackNetwork/CMakeLists.txt
index c816a30f1a8..75877575614 100644
--- a/source/gameengine/Network/LoopBackNetwork/CMakeLists.txt
+++ b/source/gameengine/Network/LoopBackNetwork/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
index 288dfc12ffd..0dc468a3e98 100644
--- a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
+++ b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.h b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.h
index cb7807a86a6..b03fc8e8e40 100644
--- a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.h
+++ b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkDeviceInterface.h b/source/gameengine/Network/NG_NetworkDeviceInterface.h
index 857b4660327..ce5720c070f 100644
--- a/source/gameengine/Network/NG_NetworkDeviceInterface.h
+++ b/source/gameengine/Network/NG_NetworkDeviceInterface.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkMessage.cpp b/source/gameengine/Network/NG_NetworkMessage.cpp
index 56575f91c41..23ae2529b7a 100644
--- a/source/gameengine/Network/NG_NetworkMessage.cpp
+++ b/source/gameengine/Network/NG_NetworkMessage.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkMessage.h b/source/gameengine/Network/NG_NetworkMessage.h
index 0b3918773e2..75da167ea3e 100644
--- a/source/gameengine/Network/NG_NetworkMessage.h
+++ b/source/gameengine/Network/NG_NetworkMessage.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkObject.cpp b/source/gameengine/Network/NG_NetworkObject.cpp
index 17b40d59e00..5cd42a2e45a 100644
--- a/source/gameengine/Network/NG_NetworkObject.cpp
+++ b/source/gameengine/Network/NG_NetworkObject.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkObject.h b/source/gameengine/Network/NG_NetworkObject.h
index 0cbb3c83779..b3f5a180aad 100644
--- a/source/gameengine/Network/NG_NetworkObject.h
+++ b/source/gameengine/Network/NG_NetworkObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkScene.cpp b/source/gameengine/Network/NG_NetworkScene.cpp
index b4982b332f0..4c5206ea2f1 100644
--- a/source/gameengine/Network/NG_NetworkScene.cpp
+++ b/source/gameengine/Network/NG_NetworkScene.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Network/NG_NetworkScene.h b/source/gameengine/Network/NG_NetworkScene.h
index ebe50d36b46..01a0d184b1c 100644
--- a/source/gameengine/Network/NG_NetworkScene.h
+++ b/source/gameengine/Network/NG_NetworkScene.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/Bullet/CMakeLists.txt b/source/gameengine/Physics/Bullet/CMakeLists.txt
index 971c8f979f3..cdae3cc5526 100644
--- a/source/gameengine/Physics/Bullet/CMakeLists.txt
+++ b/source/gameengine/Physics/Bullet/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/Dummy/CMakeLists.txt b/source/gameengine/Physics/Dummy/CMakeLists.txt
index 11230bbe571..6a21fc6fcb7 100644
--- a/source/gameengine/Physics/Dummy/CMakeLists.txt
+++ b/source/gameengine/Physics/Dummy/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index 15c52410dc6..d1a8143fa88 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index b3deb181a44..d0073d772c8 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/CMakeLists.txt b/source/gameengine/Physics/common/CMakeLists.txt
index 9da7aaa6ba7..ceb7a8ba548 100644
--- a/source/gameengine/Physics/common/CMakeLists.txt
+++ b/source/gameengine/Physics/common/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IController.cpp b/source/gameengine/Physics/common/PHY_IController.cpp
index 0d484ab4a2e..8568ffa74e6 100644
--- a/source/gameengine/Physics/common/PHY_IController.cpp
+++ b/source/gameengine/Physics/common/PHY_IController.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IController.h b/source/gameengine/Physics/common/PHY_IController.h
index d3bb9fbf5bc..672f2e5a655 100644
--- a/source/gameengine/Physics/common/PHY_IController.h
+++ b/source/gameengine/Physics/common/PHY_IController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.cpp b/source/gameengine/Physics/common/PHY_IGraphicController.cpp
index 5f177aec155..0b8f89ceed2 100644
--- a/source/gameengine/Physics/common/PHY_IGraphicController.cpp
+++ b/source/gameengine/Physics/common/PHY_IGraphicController.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.h b/source/gameengine/Physics/common/PHY_IGraphicController.h
index 00bb25be3e6..46f17014090 100644
--- a/source/gameengine/Physics/common/PHY_IGraphicController.h
+++ b/source/gameengine/Physics/common/PHY_IGraphicController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IMotionState.cpp b/source/gameengine/Physics/common/PHY_IMotionState.cpp
index 39f3032f478..1953e748bc0 100644
--- a/source/gameengine/Physics/common/PHY_IMotionState.cpp
+++ b/source/gameengine/Physics/common/PHY_IMotionState.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IMotionState.h b/source/gameengine/Physics/common/PHY_IMotionState.h
index 3914cb9aef5..1ffd3adac9a 100644
--- a/source/gameengine/Physics/common/PHY_IMotionState.h
+++ b/source/gameengine/Physics/common/PHY_IMotionState.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.cpp b/source/gameengine/Physics/common/PHY_IPhysicsController.cpp
index 49c830c6920..58b94df6221 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.cpp
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index eaf756d887f..31a7d71745e 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.cpp b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.cpp
index 8ac2a06fb09..142318cc7c2 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index e0a12a64b12..adf6fb03bc1 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Physics/common/PHY_Pro.h b/source/gameengine/Physics/common/PHY_Pro.h
index 4ee8d3a4293..4189db27c17 100644
--- a/source/gameengine/Physics/common/PHY_Pro.h
+++ b/source/gameengine/Physics/common/PHY_Pro.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/PyDoc/PhysicsConstraints.py b/source/gameengine/PyDoc/PhysicsConstraints.py
index 01c922583e6..bec8973edc6 100644
--- a/source/gameengine/PyDoc/PhysicsConstraints.py
+++ b/source/gameengine/PyDoc/PhysicsConstraints.py
@@ -1,4 +1,3 @@
-# $Id$
 """
 Documentation for the PhysicsConstraints module.
 ================================================
diff --git a/source/gameengine/PyDoc/VideoTexture.py b/source/gameengine/PyDoc/VideoTexture.py
index 80ac1f4392a..9d2148d8eaf 100644
--- a/source/gameengine/PyDoc/VideoTexture.py
+++ b/source/gameengine/PyDoc/VideoTexture.py
@@ -1,4 +1,3 @@
-# $Id$
 """
 The VideoTexture module allows you to manipulate textures during the game.
 
diff --git a/source/gameengine/Rasterizer/CMakeLists.txt b/source/gameengine/Rasterizer/CMakeLists.txt
index 23d746f88bc..08264ce8a67 100644
--- a/source/gameengine/Rasterizer/CMakeLists.txt
+++ b/source/gameengine/Rasterizer/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_BucketManager.cpp b/source/gameengine/Rasterizer/RAS_BucketManager.cpp
index 6316b119588..f7cc47da61f 100644
--- a/source/gameengine/Rasterizer/RAS_BucketManager.cpp
+++ b/source/gameengine/Rasterizer/RAS_BucketManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_BucketManager.h b/source/gameengine/Rasterizer/RAS_BucketManager.h
index 8a9f21d5db7..b4b5465fdb6 100644
--- a/source/gameengine/Rasterizer/RAS_BucketManager.h
+++ b/source/gameengine/Rasterizer/RAS_BucketManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_CameraData.h b/source/gameengine/Rasterizer/RAS_CameraData.h
index 5657fda4f3c..2056068a2ad 100644
--- a/source/gameengine/Rasterizer/RAS_CameraData.h
+++ b/source/gameengine/Rasterizer/RAS_CameraData.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_Deformer.h b/source/gameengine/Rasterizer/RAS_Deformer.h
index c7a32b38e04..6113589c39f 100644
--- a/source/gameengine/Rasterizer/RAS_Deformer.h
+++ b/source/gameengine/Rasterizer/RAS_Deformer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_FramingManager.cpp b/source/gameengine/Rasterizer/RAS_FramingManager.cpp
index 6ca402691cb..da6c230ffc1 100644
--- a/source/gameengine/Rasterizer/RAS_FramingManager.cpp
+++ b/source/gameengine/Rasterizer/RAS_FramingManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_FramingManager.h b/source/gameengine/Rasterizer/RAS_FramingManager.h
index c37d92dac17..38ea8f4e07a 100644
--- a/source/gameengine/Rasterizer/RAS_FramingManager.h
+++ b/source/gameengine/Rasterizer/RAS_FramingManager.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_ICanvas.h b/source/gameengine/Rasterizer/RAS_ICanvas.h
index 41374a476c6..d7e2f237bb0 100644
--- a/source/gameengine/Rasterizer/RAS_ICanvas.h
+++ b/source/gameengine/Rasterizer/RAS_ICanvas.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
index 9948f48d7f3..48251b2d7ee 100644
--- a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
+++ b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
index 69d07713c49..6527b0d58ce 100644
--- a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
+++ b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_IRasterizer.h b/source/gameengine/Rasterizer/RAS_IRasterizer.h
index 478aa0ab03c..70b91cc826f 100644
--- a/source/gameengine/Rasterizer/RAS_IRasterizer.h
+++ b/source/gameengine/Rasterizer/RAS_IRasterizer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_IRenderTools.cpp b/source/gameengine/Rasterizer/RAS_IRenderTools.cpp
index 6e3ea16f25c..045373eff85 100644
--- a/source/gameengine/Rasterizer/RAS_IRenderTools.cpp
+++ b/source/gameengine/Rasterizer/RAS_IRenderTools.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_IRenderTools.h b/source/gameengine/Rasterizer/RAS_IRenderTools.h
index ce20bbd98cd..b7e81e1a252 100644
--- a/source/gameengine/Rasterizer/RAS_IRenderTools.h
+++ b/source/gameengine/Rasterizer/RAS_IRenderTools.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_LightObject.h b/source/gameengine/Rasterizer/RAS_LightObject.h
index ef6cfa06635..78e57e2b786 100644
--- a/source/gameengine/Rasterizer/RAS_LightObject.h
+++ b/source/gameengine/Rasterizer/RAS_LightObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp b/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
index 85284096bb9..ad26ed52ed7 100644
--- a/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
+++ b/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_MaterialBucket.h b/source/gameengine/Rasterizer/RAS_MaterialBucket.h
index 51c430dd57b..5c8e2f2c085 100644
--- a/source/gameengine/Rasterizer/RAS_MaterialBucket.h
+++ b/source/gameengine/Rasterizer/RAS_MaterialBucket.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_MeshObject.cpp b/source/gameengine/Rasterizer/RAS_MeshObject.cpp
index 6ddd31765d5..48e9e93b80e 100644
--- a/source/gameengine/Rasterizer/RAS_MeshObject.cpp
+++ b/source/gameengine/Rasterizer/RAS_MeshObject.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_MeshObject.h b/source/gameengine/Rasterizer/RAS_MeshObject.h
index 555a290ba6f..982ce488a82 100644
--- a/source/gameengine/Rasterizer/RAS_MeshObject.h
+++ b/source/gameengine/Rasterizer/RAS_MeshObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_ObjectColor.h b/source/gameengine/Rasterizer/RAS_ObjectColor.h
index 9a334385b17..ad2002ebc82 100644
--- a/source/gameengine/Rasterizer/RAS_ObjectColor.h
+++ b/source/gameengine/Rasterizer/RAS_ObjectColor.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/CMakeLists.txt b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/CMakeLists.txt
index b0ef6fab251..189c4f78f77 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/CMakeLists.txt
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.cpp b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.cpp
index 5e032303bdc..e1fff5fe077 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.cpp
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.h b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.h
index 5c3573bccec..1b4d3219335 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.h
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_GLExtensionManager.h
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
index d99a23c28b5..56c0f46865a 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
index c28db2fd91c..48705c3047a 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.cpp b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.cpp
index 3ffbf9bc9d1..06f3d129e7a 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.cpp
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.h b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.h
index 388d6c4da29..c0c6f5d060c 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.h
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_VAOpenGLRasterizer.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_Polygon.cpp b/source/gameengine/Rasterizer/RAS_Polygon.cpp
index cc5b4c3b0dc..2f9c7c607ad 100644
--- a/source/gameengine/Rasterizer/RAS_Polygon.cpp
+++ b/source/gameengine/Rasterizer/RAS_Polygon.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_Polygon.h b/source/gameengine/Rasterizer/RAS_Polygon.h
index 49e99f6bd2f..6e2d724cefe 100644
--- a/source/gameengine/Rasterizer/RAS_Polygon.h
+++ b/source/gameengine/Rasterizer/RAS_Polygon.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_Rect.h b/source/gameengine/Rasterizer/RAS_Rect.h
index bc4f069b883..d307a1f62ee 100644
--- a/source/gameengine/Rasterizer/RAS_Rect.h
+++ b/source/gameengine/Rasterizer/RAS_Rect.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_TexMatrix.h b/source/gameengine/Rasterizer/RAS_TexMatrix.h
index 068e810e387..125e8596ad2 100644
--- a/source/gameengine/Rasterizer/RAS_TexMatrix.h
+++ b/source/gameengine/Rasterizer/RAS_TexMatrix.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_TexVert.cpp b/source/gameengine/Rasterizer/RAS_TexVert.cpp
index fd984da8176..18a987a332a 100644
--- a/source/gameengine/Rasterizer/RAS_TexVert.cpp
+++ b/source/gameengine/Rasterizer/RAS_TexVert.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_TexVert.h b/source/gameengine/Rasterizer/RAS_TexVert.h
index bbccd3cca9d..64ebb53baa2 100644
--- a/source/gameengine/Rasterizer/RAS_TexVert.h
+++ b/source/gameengine/Rasterizer/RAS_TexVert.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/Rasterizer/RAS_texmatrix.cpp b/source/gameengine/Rasterizer/RAS_texmatrix.cpp
index 89536eb0562..4399265c380 100644
--- a/source/gameengine/Rasterizer/RAS_texmatrix.cpp
+++ b/source/gameengine/Rasterizer/RAS_texmatrix.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/CMakeLists.txt b/source/gameengine/SceneGraph/CMakeLists.txt
index 2f6b90a21a7..7b7f05da3e3 100644
--- a/source/gameengine/SceneGraph/CMakeLists.txt
+++ b/source/gameengine/SceneGraph/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_BBox.cpp b/source/gameengine/SceneGraph/SG_BBox.cpp
index 01107557481..b1e3a3216ed 100644
--- a/source/gameengine/SceneGraph/SG_BBox.cpp
+++ b/source/gameengine/SceneGraph/SG_BBox.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_BBox.h b/source/gameengine/SceneGraph/SG_BBox.h
index 9b18c121919..08c242baf5d 100644
--- a/source/gameengine/SceneGraph/SG_BBox.h
+++ b/source/gameengine/SceneGraph/SG_BBox.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Controller.cpp b/source/gameengine/SceneGraph/SG_Controller.cpp
index b5e3c13ee79..5299c865992 100644
--- a/source/gameengine/SceneGraph/SG_Controller.cpp
+++ b/source/gameengine/SceneGraph/SG_Controller.cpp
@@ -1,6 +1,5 @@
 /*
  * @file SG_Controller.cpp
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Controller.h b/source/gameengine/SceneGraph/SG_Controller.h
index fbc27bb93f3..dd4ed0755cb 100644
--- a/source/gameengine/SceneGraph/SG_Controller.h
+++ b/source/gameengine/SceneGraph/SG_Controller.h
@@ -1,7 +1,6 @@
 /*
  * Implementationclass to derive controllers from
  *
- * $Id$
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
diff --git a/source/gameengine/SceneGraph/SG_DList.h b/source/gameengine/SceneGraph/SG_DList.h
index 3fb4eb7b55b..c4c71ca859f 100644
--- a/source/gameengine/SceneGraph/SG_DList.h
+++ b/source/gameengine/SceneGraph/SG_DList.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_IObject.cpp b/source/gameengine/SceneGraph/SG_IObject.cpp
index b22d210984d..ae6208b4f4a 100644
--- a/source/gameengine/SceneGraph/SG_IObject.cpp
+++ b/source/gameengine/SceneGraph/SG_IObject.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_IObject.h b/source/gameengine/SceneGraph/SG_IObject.h
index 8c0159fe8d4..764d92b6fd1 100644
--- a/source/gameengine/SceneGraph/SG_IObject.h
+++ b/source/gameengine/SceneGraph/SG_IObject.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Node.cpp b/source/gameengine/SceneGraph/SG_Node.cpp
index c39904bf742..40f4e9b2b25 100644
--- a/source/gameengine/SceneGraph/SG_Node.cpp
+++ b/source/gameengine/SceneGraph/SG_Node.cpp
@@ -1,5 +1,4 @@
 /*
- * $Id$
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Node.h b/source/gameengine/SceneGraph/SG_Node.h
index 1116cc53672..ad4c35198f8 100644
--- a/source/gameengine/SceneGraph/SG_Node.h
+++ b/source/gameengine/SceneGraph/SG_Node.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_ParentRelation.h b/source/gameengine/SceneGraph/SG_ParentRelation.h
index 577e3a5c26c..c704146160c 100644
--- a/source/gameengine/SceneGraph/SG_ParentRelation.h
+++ b/source/gameengine/SceneGraph/SG_ParentRelation.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_QList.h b/source/gameengine/SceneGraph/SG_QList.h
index eb404b1a5a5..9df8f35f3a4 100644
--- a/source/gameengine/SceneGraph/SG_QList.h
+++ b/source/gameengine/SceneGraph/SG_QList.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Spatial.cpp b/source/gameengine/SceneGraph/SG_Spatial.cpp
index 09fb7278bfa..6e9354721aa 100644
--- a/source/gameengine/SceneGraph/SG_Spatial.cpp
+++ b/source/gameengine/SceneGraph/SG_Spatial.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Spatial.h b/source/gameengine/SceneGraph/SG_Spatial.h
index e15a3f3cc32..3f2f66c0e1c 100644
--- a/source/gameengine/SceneGraph/SG_Spatial.h
+++ b/source/gameengine/SceneGraph/SG_Spatial.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Tree.cpp b/source/gameengine/SceneGraph/SG_Tree.cpp
index ee013fd327d..87c618fd214 100644
--- a/source/gameengine/SceneGraph/SG_Tree.cpp
+++ b/source/gameengine/SceneGraph/SG_Tree.cpp
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/SceneGraph/SG_Tree.h b/source/gameengine/SceneGraph/SG_Tree.h
index 4ab8586f09f..b0d74bedec5 100644
--- a/source/gameengine/SceneGraph/SG_Tree.h
+++ b/source/gameengine/SceneGraph/SG_Tree.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/VideoTexture/BlendType.h b/source/gameengine/VideoTexture/BlendType.h
index a5c695d737e..4d63031a363 100644
--- a/source/gameengine/VideoTexture/BlendType.h
+++ b/source/gameengine/VideoTexture/BlendType.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/CMakeLists.txt b/source/gameengine/VideoTexture/CMakeLists.txt
index 448fb307d2d..a025f5e3ec9 100644
--- a/source/gameengine/VideoTexture/CMakeLists.txt
+++ b/source/gameengine/VideoTexture/CMakeLists.txt
@@ -1,4 +1,3 @@
-# $Id$
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/gameengine/VideoTexture/Common.h b/source/gameengine/VideoTexture/Common.h
index 6ca38ee44eb..fe9632b02bb 100644
--- a/source/gameengine/VideoTexture/Common.h
+++ b/source/gameengine/VideoTexture/Common.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/Exception.cpp b/source/gameengine/VideoTexture/Exception.cpp
index 30a8af4b125..dc63a867e30 100644
--- a/source/gameengine/VideoTexture/Exception.cpp
+++ b/source/gameengine/VideoTexture/Exception.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/Exception.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,9 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/Exception.cpp
+ *  \ingroup bgevideotex
+ */
 
 #include <sstream>
 #include <fstream>
diff --git a/source/gameengine/VideoTexture/Exception.h b/source/gameengine/VideoTexture/Exception.h
index 11e617cf4ce..af226fab75d 100644
--- a/source/gameengine/VideoTexture/Exception.h
+++ b/source/gameengine/VideoTexture/Exception.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/FilterBase.cpp b/source/gameengine/VideoTexture/FilterBase.cpp
index 65c25837a89..28e36cf80e0 100644
--- a/source/gameengine/VideoTexture/FilterBase.cpp
+++ b/source/gameengine/VideoTexture/FilterBase.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/FilterBase.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,11 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/FilterBase.cpp
+ *  \ingroup bgevideotex
+ */
+
+
 #include "FilterBase.h"
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/FilterBase.h b/source/gameengine/VideoTexture/FilterBase.h
index 5bba153be2a..bdb3106d58d 100644
--- a/source/gameengine/VideoTexture/FilterBase.h
+++ b/source/gameengine/VideoTexture/FilterBase.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/FilterBlueScreen.cpp b/source/gameengine/VideoTexture/FilterBlueScreen.cpp
index 04ddef99879..fb5a83c7043 100644
--- a/source/gameengine/VideoTexture/FilterBlueScreen.cpp
+++ b/source/gameengine/VideoTexture/FilterBlueScreen.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/FilterBlueScreen.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,9 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/FilterBlueScreen.cpp
+ *  \ingroup bgevideotex
+ */
 
 #include <PyObjectPlus.h>
 #include <structmember.h>
diff --git a/source/gameengine/VideoTexture/FilterBlueScreen.h b/source/gameengine/VideoTexture/FilterBlueScreen.h
index 0aa3022299d..381941fdcca 100644
--- a/source/gameengine/VideoTexture/FilterBlueScreen.h
+++ b/source/gameengine/VideoTexture/FilterBlueScreen.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/FilterColor.cpp b/source/gameengine/VideoTexture/FilterColor.cpp
index db8d493aa73..f3931c7e047 100644
--- a/source/gameengine/VideoTexture/FilterColor.cpp
+++ b/source/gameengine/VideoTexture/FilterColor.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/FilterColor.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,9 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/FilterColor.cpp
+ *  \ingroup bgevideotex
+ */
 
 #include <PyObjectPlus.h>
 #include <structmember.h>
diff --git a/source/gameengine/VideoTexture/FilterColor.h b/source/gameengine/VideoTexture/FilterColor.h
index d0536ed2801..aeca4d326b4 100644
--- a/source/gameengine/VideoTexture/FilterColor.h
+++ b/source/gameengine/VideoTexture/FilterColor.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/FilterNormal.cpp b/source/gameengine/VideoTexture/FilterNormal.cpp
index 3dfd7c38b46..aacbc87a414 100644
--- a/source/gameengine/VideoTexture/FilterNormal.cpp
+++ b/source/gameengine/VideoTexture/FilterNormal.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/FilterNormal.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,9 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/FilterNormal.cpp
+ *  \ingroup bgevideotex
+ */
 
 #include <PyObjectPlus.h>
 #include <structmember.h>
diff --git a/source/gameengine/VideoTexture/FilterNormal.h b/source/gameengine/VideoTexture/FilterNormal.h
index 90ebd6c03ed..0b4574d4d1f 100644
--- a/source/gameengine/VideoTexture/FilterNormal.h
+++ b/source/gameengine/VideoTexture/FilterNormal.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/FilterSource.cpp b/source/gameengine/VideoTexture/FilterSource.cpp
index 5fea4c74a82..c5c164822a5 100644
--- a/source/gameengine/VideoTexture/FilterSource.cpp
+++ b/source/gameengine/VideoTexture/FilterSource.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/FilterSource.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/FilterSource.cpp
+ *  \ingroup bgevideotex
+ */
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/FilterSource.h b/source/gameengine/VideoTexture/FilterSource.h
index 3518f3134ff..5b73fcda947 100644
--- a/source/gameengine/VideoTexture/FilterSource.h
+++ b/source/gameengine/VideoTexture/FilterSource.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/ImageBase.cpp b/source/gameengine/VideoTexture/ImageBase.cpp
index 65509ab9424..0fe71dd8024 100644
--- a/source/gameengine/VideoTexture/ImageBase.cpp
+++ b/source/gameengine/VideoTexture/ImageBase.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/ImageBase.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/ImageBase.cpp
+ *  \ingroup bgevideotex
+ */
+
 #include "ImageBase.h"
 extern "C" {
 #include "bgl.h"
diff --git a/source/gameengine/VideoTexture/ImageBase.h b/source/gameengine/VideoTexture/ImageBase.h
index 53485ceef7a..e6469f4cb86 100644
--- a/source/gameengine/VideoTexture/ImageBase.h
+++ b/source/gameengine/VideoTexture/ImageBase.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/ImageBuff.cpp b/source/gameengine/VideoTexture/ImageBuff.cpp
index 44c4df7fae0..d9e3a592f6f 100644
--- a/source/gameengine/VideoTexture/ImageBuff.cpp
+++ b/source/gameengine/VideoTexture/ImageBuff.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/ImageBuff.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/ImageBuff.cpp
+ *  \ingroup bgevideotex
+ */
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/ImageBuff.h b/source/gameengine/VideoTexture/ImageBuff.h
index f0f14f2b4b1..1fd2d3f9ee6 100644
--- a/source/gameengine/VideoTexture/ImageBuff.h
+++ b/source/gameengine/VideoTexture/ImageBuff.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/ImageMix.cpp b/source/gameengine/VideoTexture/ImageMix.cpp
index aeef5d1694f..d06ea485c8c 100644
--- a/source/gameengine/VideoTexture/ImageMix.cpp
+++ b/source/gameengine/VideoTexture/ImageMix.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/ImageMix.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,11 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/ImageMix.cpp
+ *  \ingroup bgevideotex
+ */
+
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/ImageMix.h b/source/gameengine/VideoTexture/ImageMix.h
index ada936b4be5..d99f27576c1 100644
--- a/source/gameengine/VideoTexture/ImageMix.h
+++ b/source/gameengine/VideoTexture/ImageMix.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/ImageRender.cpp b/source/gameengine/VideoTexture/ImageRender.cpp
index f7546d876b2..912d5864560 100644
--- a/source/gameengine/VideoTexture/ImageRender.cpp
+++ b/source/gameengine/VideoTexture/ImageRender.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/ImageRender.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/ImageRender.cpp
+ *  \ingroup bgevideotex
+ */
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/ImageRender.h b/source/gameengine/VideoTexture/ImageRender.h
index 4dfd701ac3d..61f441465c3 100644
--- a/source/gameengine/VideoTexture/ImageRender.h
+++ b/source/gameengine/VideoTexture/ImageRender.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/ImageViewport.cpp b/source/gameengine/VideoTexture/ImageViewport.cpp
index 0276ad6fd6b..036dd893dcb 100644
--- a/source/gameengine/VideoTexture/ImageViewport.cpp
+++ b/source/gameengine/VideoTexture/ImageViewport.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/ImageViewport.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/ImageViewport.cpp
+ *  \ingroup bgevideotex
+ */
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/ImageViewport.h b/source/gameengine/VideoTexture/ImageViewport.h
index 70c52b0781c..4195847c9d0 100644
--- a/source/gameengine/VideoTexture/ImageViewport.h
+++ b/source/gameengine/VideoTexture/ImageViewport.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/PyTypeList.cpp b/source/gameengine/VideoTexture/PyTypeList.cpp
index 5064cd925ed..508ce233def 100644
--- a/source/gameengine/VideoTexture/PyTypeList.cpp
+++ b/source/gameengine/VideoTexture/PyTypeList.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/PyTypeList.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
@@ -23,6 +20,9 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/PyTypeList.cpp
+ *  \ingroup bgevideotex
+ */
 
 #include "PyTypeList.h"
 
diff --git a/source/gameengine/VideoTexture/PyTypeList.h b/source/gameengine/VideoTexture/PyTypeList.h
index 089699aaa7e..3f1523294aa 100644
--- a/source/gameengine/VideoTexture/PyTypeList.h
+++ b/source/gameengine/VideoTexture/PyTypeList.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of blendTex library
 
diff --git a/source/gameengine/VideoTexture/Texture.cpp b/source/gameengine/VideoTexture/Texture.cpp
index 0eaec4be713..2066afbbf27 100644
--- a/source/gameengine/VideoTexture/Texture.cpp
+++ b/source/gameengine/VideoTexture/Texture.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/Texture.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/Texture.cpp
+ *  \ingroup bgevideotex
+ */
+
 // implementation
 
 #include <PyObjectPlus.h>
diff --git a/source/gameengine/VideoTexture/Texture.h b/source/gameengine/VideoTexture/Texture.h
index 198a0d2b146..52e1dfeb148 100644
--- a/source/gameengine/VideoTexture/Texture.h
+++ b/source/gameengine/VideoTexture/Texture.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/VideoBase.cpp b/source/gameengine/VideoTexture/VideoBase.cpp
index c23c8fdc188..6662df8d7d1 100644
--- a/source/gameengine/VideoTexture/VideoBase.cpp
+++ b/source/gameengine/VideoTexture/VideoBase.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/VideoBase.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/VideoBase.cpp
+ *  \ingroup bgevideotex
+ */
+
 #if defined WIN32
 #define WINDOWS_LEAN_AND_MEAN
 #include <windows.h>
diff --git a/source/gameengine/VideoTexture/VideoBase.h b/source/gameengine/VideoTexture/VideoBase.h
index 08000161f14..a1eae96be57 100644
--- a/source/gameengine/VideoTexture/VideoBase.h
+++ b/source/gameengine/VideoTexture/VideoBase.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/VideoFFmpeg.cpp b/source/gameengine/VideoTexture/VideoFFmpeg.cpp
index ae8132514cf..acc09931859 100644
--- a/source/gameengine/VideoTexture/VideoFFmpeg.cpp
+++ b/source/gameengine/VideoTexture/VideoFFmpeg.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/VideoFFmpeg.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,11 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/VideoFFmpeg.cpp
+ *  \ingroup bgevideotex
+ */
+
+
 #ifdef WITH_FFMPEG
 
 // INT64_C fix for some linux machines (C99ism)
diff --git a/source/gameengine/VideoTexture/VideoFFmpeg.h b/source/gameengine/VideoTexture/VideoFFmpeg.h
index 139b90dc463..2be86b6c535 100644
--- a/source/gameengine/VideoTexture/VideoFFmpeg.h
+++ b/source/gameengine/VideoTexture/VideoFFmpeg.h
@@ -1,4 +1,4 @@
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
diff --git a/source/gameengine/VideoTexture/blendVideoTex.cpp b/source/gameengine/VideoTexture/blendVideoTex.cpp
index e7244265fc4..c93fadada77 100644
--- a/source/gameengine/VideoTexture/blendVideoTex.cpp
+++ b/source/gameengine/VideoTexture/blendVideoTex.cpp
@@ -1,7 +1,4 @@
-/** \file gameengine/VideoTexture/blendVideoTex.cpp
- *  \ingroup bgevideotex
- */
-/* $Id$
+/*
 -----------------------------------------------------------------------------
 This source file is part of VideoTexture library
 
@@ -23,6 +20,10 @@ http://www.gnu.org/copyleft/lesser.txt.
 -----------------------------------------------------------------------------
 */
 
+/** \file gameengine/VideoTexture/blendVideoTex.cpp
+ *  \ingroup bgevideotex
+ */
+
 #include <PyObjectPlus.h>
 
 #include <RAS_GLExtensionManager.h>
diff --git a/source/tests/CMakeLists.txt b/source/tests/CMakeLists.txt
index 64cc79de879..40d304ef4b9 100644
--- a/source/tests/CMakeLists.txt
+++ b/source/tests/CMakeLists.txt
@@ -1,5 +1,4 @@
 # -*- mode: cmake; indent-tabs-mode: t; -*-
-# $Id: CMakeLists.txt 34198 2011-01-09 15:12:08Z campbellbarton $
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
diff --git a/source/tests/check_deprecated.py b/source/tests/check_deprecated.py
index 34b07518162..c5c7bdcdcb0 100644
--- a/source/tests/check_deprecated.py
+++ b/source/tests/check_deprecated.py
@@ -36,7 +36,7 @@ def is_c_header(filename):
 
 def is_c(filename):
     ext = splitext(filename)[1]
-    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc"))
+    return (ext in (".c", ".cpp", ".cxx", ".m", ".mm", ".rc", ".cc", ".inl"))
 
 
 def is_c_any(filename):