DenseSparseMatrix is now column-major.

1. Introduce new typdefs in eigen.h to allow for column
   major matrices.

2. Clean up old unused typedefs, and the aligned typedefs
   since they do not actually add any real performance.

3. Made eigen.h conform to the google style guide by removing
   the using directives. They were polluting the ceres namespace.

4. Made the template specialization generator work again.

Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37

include/ceres/internal/eigen.h

@@ -35,27 +35,40 @@
 
 namespace ceres {
 
-using Eigen::Dynamic;
-using Eigen::RowMajor;
-
-typedef Eigen::Matrix<double, Dynamic, 1> Vector;
-typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::RowMajor> Matrix;
 typedef Eigen::Map<Vector> VectorRef;
 typedef Eigen::Map<Matrix> MatrixRef;
-typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
 typedef Eigen::Map<const Vector> ConstVectorRef;
-typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
 typedef Eigen::Map<const Matrix> ConstMatrixRef;
 
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+                   0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
-  typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
   Matrix;
 
   typedef Eigen::Map<
-    Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   MatrixRef;
 
   typedef Eigen::Matrix <double, num_rows, 1>
@@ -67,7 +80,7 @@ struct EigenTypes {
 
 
   typedef Eigen::Map<
-    const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   ConstMatrixRef;
 
   typedef Eigen::Map <

internal/ceres/dense_normal_cholesky_solver.cc

@@ -57,7 +57,7 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
   const int num_rows = A->num_rows();
   const int num_cols = A->num_cols();
 
-  ConstAlignedMatrixRef Aref = A->matrix();
+  ConstColMajorMatrixRef Aref = A->matrix();
   Matrix lhs(num_cols, num_cols);
   lhs.setZero();
 

internal/ceres/dense_sparse_matrix.cc

@@ -42,7 +42,6 @@ namespace internal {
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
-  // Allocate enough space for the diagonal.
   m_.resize(num_rows, num_cols);
   m_.setZero();
 }
@@ -52,8 +51,8 @@ DenseSparseMatrix::DenseSparseMatrix(int num_rows,
                                      bool reserve_diagonal)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(reserve_diagonal) {
-  // Allocate enough space for the diagonal.
   if (reserve_diagonal) {
+    // Allocate enough space for the diagonal.
     m_.resize(num_rows +  num_cols, num_cols);
   } else {
     m_.resize(num_rows, num_cols);
@@ -75,7 +74,7 @@ DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
     : m_(m),
       has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
@@ -141,7 +140,7 @@ void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
 void DenseSparseMatrix::AppendDiagonal(double *d) {
   CHECK(!has_diagonal_appended_);
   if (!has_diagonal_reserved_) {
-    Matrix tmp = m_;
+    ColMajorMatrix tmp = m_;
     m_.resize(m_.rows() + m_.cols(), m_.cols());
     m_.setZero();
     m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
@@ -177,22 +176,27 @@ int DenseSparseMatrix::num_nonzeros() const {
   return m_.rows() * m_.cols();
 }
 
-ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return ConstAlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+  return ConstColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
-AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return AlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+  return ColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
+
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK_NOTNULL(file);
   const int active_rows =

internal/ceres/dense_sparse_matrix.h

@@ -51,7 +51,7 @@ class DenseSparseMatrix : public SparseMatrix {
   // Build a matrix with the same content as the TripletSparseMatrix
   // m. This assumes that m does not have any repeated entries.
   explicit DenseSparseMatrix(const TripletSparseMatrix& m);
-  explicit DenseSparseMatrix(const Matrix& m);
+  explicit DenseSparseMatrix(const ColMajorMatrix& m);
 #ifndef CERES_NO_PROTOCOL_BUFFERS
   explicit DenseSparseMatrix(const SparseMatrixProto& proto);
 #endif
@@ -78,8 +78,8 @@ class DenseSparseMatrix : public SparseMatrix {
   virtual const double* values() const { return m_.data(); }
   virtual double* mutable_values() { return m_.data(); }
 
-  ConstAlignedMatrixRef matrix() const;
-  AlignedMatrixRef mutable_matrix();
+  ConstColMajorMatrixRef matrix() const;
+  ColMajorMatrixRef mutable_matrix();
 
   // Only one diagonal can be appended at a time. The diagonal is appended to
   // as a new set of rows, e.g.
@@ -106,7 +106,7 @@ class DenseSparseMatrix : public SparseMatrix {
   void RemoveDiagonal();
 
  private:
-  Matrix m_;
+  ColMajorMatrix m_;
   bool has_diagonal_appended_;
   bool has_diagonal_reserved_;
 };

internal/ceres/dense_sparse_matrix_test.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -200,6 +200,7 @@ TEST_F(DenseSparseMatrixTest, AppendDiagonal) {
 
   // Verify the diagonal got added.
   Matrix m = dsm.matrix();
+
   EXPECT_EQ(6, m.rows());
   EXPECT_EQ(3, m.cols());
   for (int i = 0; i < 3; ++i) {
@@ -215,6 +216,7 @@ TEST_F(DenseSparseMatrixTest, AppendDiagonal) {
 
   // Verify the diagonal gets removed.
   dsm.RemoveDiagonal();
+
   m = dsm.matrix();
 
   EXPECT_EQ(3, m.rows());

internal/ceres/generate_eliminator_specialization.py

@@ -1,33 +1,31 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 #
-# Copyright 2011 Google Inc. All Rights Reserved.
 # Author: sameeragarwal@google.com (Sameer Agarwal)
 #
 # Script for explicitly generating template specialization of the
@@ -54,21 +52,48 @@
 SPECIALIZATIONS = [(2, 2, 2),
                    (2, 2, 3),
                    (2, 2, 4),
-                   (2, 2, "Dynamic"),
+                   (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
                    (2, 3, 9),
-                   (2, 3, "Dynamic"),
+                   (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
                    (2, 4, 4),
-                   (2, 4, "Dynamic"),
+                   (2, 4, "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
-                   (4, 4, "Dynamic"),
-                   ("Dynamic", "Dynamic", "Dynamic")]
+                   (4, 4, "Eigen::Dynamic"),
+                   ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
 
-SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // Template specialization of SchurEliminator.
@@ -134,7 +159,7 @@ FACTORY_FOOTER = """
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
@@ -143,7 +168,7 @@ FACTORY_FOOTER = """
 
 
 def SuffixForSize(size):
-  if size == "Dynamic":
+  if size == "Eigen::Dynamic":
     return "d"
   return str(size)
 

internal/ceres/generated/schur_eliminator_2_2_2.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_2_3.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_2_4.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_2_d.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 2, Dynamic>;
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres

internal/ceres/generated/schur_eliminator_2_3_3.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_3_4.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_3_9.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_3_d.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 3, Dynamic>;
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres

internal/ceres/generated/schur_eliminator_2_4_3.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_4_4.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_2_4_d.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 4, Dynamic>;
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres

internal/ceres/generated/schur_eliminator_4_4_2.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_4_4_3.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_4_4_4.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without

internal/ceres/generated/schur_eliminator_4_4_d.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<4, 4, Dynamic>;
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres

internal/ceres/generated/schur_eliminator_d_d_d.cc

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres

internal/ceres/linear_solver.h

@@ -79,9 +79,9 @@ class LinearSolver {
           max_num_iterations(1),
           num_threads(1),
           residual_reset_period(10),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     LinearSolverType type;

internal/ceres/preconditioner.h

@@ -49,9 +49,9 @@ class Preconditioner : public LinearOperator {
           sparse_linear_algebra_library(SUITE_SPARSE),
           use_block_amd(true),
           num_threads(1),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     PreconditionerType type;

internal/ceres/schur_eliminator.cc

@@ -1,31 +1,4 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+// Copyright 2011 Google Inc. All Rights Reserved.
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // ========================================
@@ -65,8 +38,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 2) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 2, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
@@ -85,8 +58,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 3, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
@@ -100,8 +73,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
@@ -120,13 +93,13 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<4, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
   }
-  if ((options.row_block_size == Dynamic) &&
-      (options.e_block_size == Dynamic) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  if ((options.row_block_size == Eigen::Dynamic) &&
+      (options.e_block_size == Eigen::Dynamic) &&
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
   }
 
 #endif
@@ -134,7 +107,7 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal

internal/ceres/schur_eliminator.h

@@ -213,9 +213,9 @@ class SchurEliminatorBase {
 //
 // This implementation is mulithreaded using OpenMP. The level of
 // parallelism is controlled by LinearSolver::Options::num_threads.
-template <int kRowBlockSize = Dynamic,
-          int kEBlockSize = Dynamic,
-          int kFBlockSize = Dynamic >
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
 class SchurEliminator : public SchurEliminatorBase {
  public:
   explicit SchurEliminator(const LinearSolver::Options& options)

internal/ceres/trust_region_minimizer_test.cc

@@ -126,7 +126,7 @@ class PowellEvaluator2 : public Evaluator {
       dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
       dense_jacobian->SetZero();
 
-      AlignedMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+      ColMajorMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
       CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
 
       int column_index = 0;