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+ GNU GENERAL PUBLIC LICENSE
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+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ 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 3 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, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/ground/openpilotgcs/src/libs/eigen/COPYING.LESSER b/ground/openpilotgcs/src/libs/eigen/COPYING.LESSER
new file mode 100644
index 000000000..fc8a5de7e
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
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+
+ The "Minimal Corresponding Source" for a Combined Work means the
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+ The "Corresponding Application Code" for a Combined Work means the
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+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
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+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
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+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
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+
+ b) under the GNU GPL, with none of the additional permissions of
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+
+ 3. Object Code Incorporating Material from Library Header Files.
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+ The object code form of an Application may incorporate material from
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+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
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+
+ 4. Combined Works.
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+ You may convey a Combined Work under terms of your choice that,
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+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
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+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
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+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
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+ 0) Convey the Minimal Corresponding Source under the terms of this
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+
+ 1) Use a suitable shared library mechanism for linking with the
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+ a copy of the Library already present on the user's computer
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+
+ e) Provide Installation Information, but only if you would otherwise
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+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
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+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
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+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
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+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
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+received it does not specify a version number of the GNU Lesser
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+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
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+permanent authorization for you to choose that version for the
+Library.
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/Array b/ground/openpilotgcs/src/libs/eigen/Eigen/Array
new file mode 100644
index 000000000..c847f9521
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Array
@@ -0,0 +1,39 @@
+#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
+ * \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/ground/openpilotgcs/src/libs/eigen/Eigen/CMakeLists.txt b/ground/openpilotgcs/src/libs/eigen/Eigen/CMakeLists.txt
new file mode 100644
index 000000000..3b59619b0
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/CMakeLists.txt
@@ -0,0 +1,31 @@
+set(Eigen_HEADERS Core LU Cholesky QR Geometry
+ Sparse Array SVD LeastSquares
+ QtAlignedMalloc StdVector NewStdVector
+ Eigen Dense)
+
+if(EIGEN_BUILD_LIB)
+ set(Eigen_SRCS
+ src/Core/CoreInstantiations.cpp
+ src/Cholesky/CholeskyInstantiations.cpp
+ src/QR/QrInstantiations.cpp
+ )
+
+ add_library(Eigen2 SHARED ${Eigen_SRCS})
+
+ install(TARGETS Eigen2
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+endif(EIGEN_BUILD_LIB)
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g1 -O2")
+ set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} -g1 -O2")
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+install(FILES
+ ${Eigen_HEADERS}
+ DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen
+ )
+
+add_subdirectory(src)
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/Cholesky b/ground/openpilotgcs/src/libs/eigen/Eigen/Cholesky
new file mode 100644
index 000000000..f1806f726
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Cholesky
@@ -0,0 +1,65 @@
+#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
+ * \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; \
+ PREFIX template class LDLT
+
+#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/ground/openpilotgcs/src/libs/eigen/Eigen/Core b/ground/openpilotgcs/src/libs/eigen/Eigen/Core
new file mode 100644
index 000000000..dcb916f7b
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Core
@@ -0,0 +1,160 @@
+#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 // 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
+
+// FIXME: this check should not be against __QNXNTO__, which is also defined
+// while compiling with GCC for QNX target. Better solution is welcome!
+#if defined(__GNUC__) && !defined(__QNXNTO__)
+ #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
+
+#if !defined(EIGEN_DONT_VECTORIZE) && !defined(EIGEN_DONT_ALIGN)
+ #if defined (EIGEN_SSE2_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_SSE
+ #include
+ #include
+ #ifdef __SSE3__
+ #include
+ #endif
+ #ifdef __SSSE3__
+ #include
+ #endif
+ #elif defined __ALTIVEC__
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_ALTIVEC
+ #include
+ // We need to #undef all these ugly tokens defined in
+ // => use __vector instead of vector
+ #undef bool
+ #undef vector
+ #undef pixel
+ #endif
+#endif
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
+ #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+ #include
+#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 {
+
+// 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;
+
+/** \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
+ * \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/ground/openpilotgcs/src/libs/eigen/Eigen/Dense b/ground/openpilotgcs/src/libs/eigen/Eigen/Dense
new file mode 100644
index 000000000..9655edcd7
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Dense
@@ -0,0 +1,8 @@
+#include "Core"
+#include "Array"
+#include "LU"
+#include "Cholesky"
+#include "QR"
+#include "SVD"
+#include "Geometry"
+#include "LeastSquares"
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/Eigen b/ground/openpilotgcs/src/libs/eigen/Eigen/Eigen
new file mode 100644
index 000000000..654c8dc63
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+#include "Sparse"
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/Geometry b/ground/openpilotgcs/src/libs/eigen/Eigen/Geometry
new file mode 100644
index 000000000..617b25eb6
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Geometry
@@ -0,0 +1,51 @@
+#ifndef EIGEN_GEOMETRY_MODULE_H
+#define EIGEN_GEOMETRY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableMSVCWarnings.h"
+
+#include "Array"
+#include
+
+#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
+ * \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/ground/openpilotgcs/src/libs/eigen/Eigen/LU b/ground/openpilotgcs/src/libs/eigen/Eigen/LU
new file mode 100644
index 000000000..0ce694565
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/LU
@@ -0,0 +1,29 @@
+#ifndef EIGEN_LU_MODULE_H
+#define EIGEN_LU_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableMSVCWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup LU_Module LU module
+ * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
+ * This module defines the following MatrixBase methods:
+ * - MatrixBase::inverse()
+ * - MatrixBase::determinant()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/LU/LU.h"
+#include "src/LU/Determinant.h"
+#include "src/LU/Inverse.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/EnableMSVCWarnings.h"
+
+#endif // EIGEN_LU_MODULE_H
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/LeastSquares b/ground/openpilotgcs/src/libs/eigen/Eigen/LeastSquares
new file mode 100644
index 000000000..573a13cb4
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/LeastSquares
@@ -0,0 +1,27 @@
+#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
+ * \endcode
+ */
+
+#include "src/LeastSquares/LeastSquares.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/EnableMSVCWarnings.h"
+
+#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/NewStdVector b/ground/openpilotgcs/src/libs/eigen/Eigen/NewStdVector
new file mode 100644
index 000000000..153f7bd5c
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/NewStdVector
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud
+// Copyright (C) 2009 Hauke Heibel
+//
+// 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 .
+
+#ifndef EIGEN_STDVECTOR_MODULE_H
+#define EIGEN_STDVECTOR_MODULE_H
+
+#include "Core"
+#include
+
+namespace Eigen {
+
+// This one is needed to prevent reimplementing the whole std::vector.
+template
+class aligned_allocator_indirection : public aligned_allocator
+{
+public:
+ typedef std::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
+ struct rebind
+ {
+ typedef aligned_allocator_indirection other;
+ };
+
+ aligned_allocator_indirection() throw() {}
+ aligned_allocator_indirection(const aligned_allocator_indirection& ) throw() : aligned_allocator() {}
+ aligned_allocator_indirection(const aligned_allocator& ) throw() {}
+ template
+ aligned_allocator_indirection(const aligned_allocator_indirection& ) throw() {}
+ template
+ aligned_allocator_indirection(const aligned_allocator& ) 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
+ template 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(this); }
+ inline operator const T& () const { return *static_cast(this); }
+ template
+ 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; \
+ typedef typename vector_base::const_iterator const_iterator; \
+ explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
+ template \
+ 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; \
+ }
+
+template
+class vector >
+ : public vector >
+{
+ typedef vector > 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());
+ }
+ void push_back(const value_type& x)
+ { vector_base::push_back(x); }
+ using vector_base::insert;
+ iterator insert(const_iterator position, const value_type& x)
+ { 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(4,2)
+ // 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))
+ // 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.
+ 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 if (new_size > vector_base::size())
+ vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
+ }
+#endif
+
+};
+
+}
+
+#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/QR b/ground/openpilotgcs/src/libs/eigen/Eigen/QR
new file mode 100644
index 000000000..97907d1e5
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/QR
@@ -0,0 +1,73 @@
+#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
+ * \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; \
+ PREFIX template class Tridiagonalization; \
+ PREFIX template class HessenbergDecomposition; \
+ PREFIX template class SelfAdjointEigenSolver
+
+// removed because it does not support complex yet
+// PREFIX template class EigenSolver
+
+// 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/ground/openpilotgcs/src/libs/eigen/Eigen/QtAlignedMalloc b/ground/openpilotgcs/src/libs/eigen/Eigen/QtAlignedMalloc
new file mode 100644
index 000000000..4710bcc3c
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/QtAlignedMalloc
@@ -0,0 +1,49 @@
+#ifndef EIGEN_QTMALLOC_MODULE_H
+#define EIGEN_QTMALLOC_MODULE_H
+
+#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
+
+#ifdef QVECTOR_H
+#error You must include before .
+#endif
+
+#ifdef Q_DECL_IMPORT
+ #define Q_DECL_IMPORT_ORIG Q_DECL_IMPORT
+ #undef Q_DECL_IMPORT
+ #define Q_DECL_IMPORT
+#else
+ #define Q_DECL_IMPORT
+#endif
+
+#include "Core"
+
+#include
+
+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
+
+#ifdef Q_DECL_IMPORT_ORIG
+ #define Q_DECL_IMPORT Q_DECL_IMPORT_ORIG
+ #undef Q_DECL_IMPORT_ORIG
+#else
+ #undef Q_DECL_IMPORT
+#endif
+
+#endif // EIGEN_QTMALLOC_MODULE_H
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/SVD b/ground/openpilotgcs/src/libs/eigen/Eigen/SVD
new file mode 100644
index 000000000..eef05564b
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/SVD
@@ -0,0 +1,29 @@
+#ifndef EIGEN_SVD_MODULE_H
+#define EIGEN_SVD_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableMSVCWarnings.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:
+ * - MatrixBase::svd()
+ *
+ * \code
+ * #include
+ * \endcode
+ */
+
+#include "src/SVD/SVD.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/EnableMSVCWarnings.h"
+
+#endif // EIGEN_SVD_MODULE_H
diff --git a/ground/openpilotgcs/src/libs/eigen/Eigen/Sparse b/ground/openpilotgcs/src/libs/eigen/Eigen/Sparse
new file mode 100644
index 000000000..536c28454
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/eigen/Eigen/Sparse
@@ -0,0 +1,132 @@
+#ifndef EIGEN_SPARSE_MODULE_H
+#define EIGEN_SPARSE_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableMSVCWarnings.h"
+
+#include
+#include